diff --git a/gnss/GnssAdapter.cpp b/gnss/GnssAdapter.cpp index 8e1bf5f8..5eb7b91c 100644 --- a/gnss/GnssAdapter.cpp +++ b/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; + } } @@ -659,7 +669,7 @@ GnssAdapter::setSuplHostServer(const char* server, int port, LocServerType type) LOC_LOGe("Invalid type=%d", type); } else { string& url = (LOC_AGPS_SUPL_SERVER == type) ? getServerUrl() : getMoServerUrl(); - if (length > 0 && strncasecmp(url.c_str(), serverUrl, sizeof(serverUrl)) != 0) { + if (length >= 0 && strncasecmp(url.c_str(), serverUrl, sizeof(serverUrl)) != 0) { url.assign(serverUrl); if (LOC_AGPS_SUPL_SERVER == type) { @@ -720,10 +730,7 @@ GnssAdapter::setConfigCommand() GNSS_CONFIG_FLAGS_LPPE_CONTROL_PLANE_VALID_BIT | GNSS_CONFIG_FLAGS_LPPE_USER_PLANE_VALID_BIT | GNSS_CONFIG_FLAGS_BLACKLISTED_SV_IDS_BIT; - gnssConfigRequested.gpsLock = GNSS_CONFIG_GPS_LOCK_NONE; - if (0 == adapter.getAfwControlId() || NULL != adapter.mNfwCb) { - gnssConfigRequested.gpsLock = gpsConf.GPS_LOCK; - } + gnssConfigRequested.gpsLock = gpsConf.GPS_LOCK; if (gpsConf.AGPS_CONFIG_INJECT) { gnssConfigRequested.flags |= GNSS_CONFIG_FLAGS_SET_ASSISTANCE_DATA_VALID_BIT | @@ -840,7 +847,7 @@ std::vector GnssAdapter::gnssUpdateConfig(const std::string& oldS GNSS_CONFIG_FLAGS_SET_ASSISTANCE_DATA_VALID_BIT) { if (gnssConfigNeedEngineUpdate.assistanceServer.type == GNSS_ASSISTANCE_TYPE_SUPL) { - if ((serverUrlLen != 0) && (oldServerUrl.compare(serverUrl) !=0)) { + if (0 != oldServerUrl.compare(serverUrl)) { err = mLocApi->setServerSync( serverUrl.c_str(), serverUrlLen, LOC_AGPS_SUPL_SERVER); @@ -848,7 +855,7 @@ std::vector GnssAdapter::gnssUpdateConfig(const std::string& oldS errsList[index] = err; } } - if ((moServerUrlLen != 0) && (oldMoServerUrl.compare(moServerUrl) != 0)) { + if (0 != oldMoServerUrl.compare(moServerUrl)) { LocationError locErr = mLocApi->setServerSync(moServerUrl.c_str(), moServerUrlLen, @@ -1075,10 +1082,7 @@ GnssAdapter::gnssUpdateConfigCommand(GnssConfig config) if (GNSS_CONFIG_GPS_LOCK_NONE == newGpsLock) { newGpsLock = GNSS_CONFIG_GPS_LOCK_MO; } - if (newGpsLock == ContextBase::mGps_conf.GPS_LOCK || - 0 != mAdapter.getAfwControlId() || NULL != adapter.mNfwCb) { - gnssConfigNeedEngineUpdate.flags &= ~(GNSS_CONFIG_FLAGS_GPS_LOCK_VALID_BIT); - } + gnssConfigNeedEngineUpdate.flags &= ~(GNSS_CONFIG_FLAGS_GPS_LOCK_VALID_BIT); ContextBase::mGps_conf.GPS_LOCK = newGpsLock; index++; } @@ -1636,7 +1640,7 @@ GnssAdapter::gnssSvTypeConfigUpdate(const GnssSvTypeConfig& config) void GnssAdapter::gnssSvTypeConfigUpdate(bool sendReset) { - LOC_LOGd("size %zu constellations blacklisted 0x%" PRIx64 ", enabled 0x%" PRIx64 + LOC_LOGd("size %" PRIu32" constellations blacklisted 0x%" PRIx64 ", enabled 0x%" PRIx64 ", sendReset %d", mGnssSvTypeConfig.size, mGnssSvTypeConfig.blacklistedSvTypesMask, mGnssSvTypeConfig.enabledSvTypesMask, sendReset); @@ -2976,10 +2980,8 @@ GnssAdapter::enableCommand(LocationTechnologyType techType) mAdapter.setAfwControlId(mSessionId); GnssConfigGpsLock gpsLock = GNSS_CONFIG_GPS_LOCK_NONE; - if (NULL != mAdapter.mNfwCb) { - ContextBase::mGps_conf.GPS_LOCK &= GNSS_CONFIG_GPS_LOCK_NI; - gpsLock = ContextBase::mGps_conf.GPS_LOCK; - } + ContextBase::mGps_conf.GPS_LOCK &= GNSS_CONFIG_GPS_LOCK_NI; + gpsLock = ContextBase::mGps_conf.GPS_LOCK; mApi.sendMsg(new LocApiMsg([&mApi = mApi, gpsLock]() { mApi.setGpsLockSync(gpsLock); })); @@ -3026,10 +3028,8 @@ GnssAdapter::disableCommand(uint32_t id) mContext.modemPowerVote(false); mAdapter.setAfwControlId(0); - if (NULL != mAdapter.mNfwCb) { - /* We need to disable MO (AFW) */ - ContextBase::mGps_conf.GPS_LOCK |= GNSS_CONFIG_GPS_LOCK_MO; - } + /* We need to disable MO (AFW) */ + ContextBase::mGps_conf.GPS_LOCK |= GNSS_CONFIG_GPS_LOCK_MO; GnssConfigGpsLock gpsLock = ContextBase::mGps_conf.GPS_LOCK; mApi.sendMsg(new LocApiMsg([&mApi = mApi,gpsLock] () { mApi.setGpsLockSync(gpsLock); @@ -3332,6 +3332,9 @@ GnssAdapter::reportSv(GnssSvNotification& svNotify) case GNSS_SIGNAL_BEIDOU_B2AI: svUsedIdMask = mGnssMbSvIdUsedInPosition.bds_b2ai_sv_used_ids_mask; break; + case GNSS_SIGNAL_BEIDOU_B2AQ: + svUsedIdMask = mGnssMbSvIdUsedInPosition.bds_b2aq_sv_used_ids_mask; + break; } } else { svUsedIdMask = mGnssSvIdUsedInPosition.bds_sv_used_ids_mask; @@ -3779,26 +3782,28 @@ GnssAdapter::reportGnssMeasurementsEvent(const GnssMeasurements& gnssMeasurement { LOC_LOGD("%s]: msInWeek=%d", __func__, msInWeek); - struct MsgReportGnssMeasurementData : public LocMsg { - GnssAdapter& mAdapter; - GnssMeasurements mGnssMeasurements; - GnssMeasurementsNotification mMeasurementsNotify; - inline MsgReportGnssMeasurementData(GnssAdapter& adapter, - const GnssMeasurements& gnssMeasurements, - int msInWeek) : - LocMsg(), - mAdapter(adapter), - mMeasurementsNotify(gnssMeasurements.gnssMeasNotification) { - if (-1 != msInWeek) { - mAdapter.getAgcInformation(mMeasurementsNotify, msInWeek); + if (0 != gnssMeasurements.gnssMeasNotification.count) { + struct MsgReportGnssMeasurementData : public LocMsg { + GnssAdapter& mAdapter; + GnssMeasurements mGnssMeasurements; + GnssMeasurementsNotification mMeasurementsNotify; + inline MsgReportGnssMeasurementData(GnssAdapter& adapter, + const GnssMeasurements& gnssMeasurements, + int msInWeek) : + LocMsg(), + mAdapter(adapter), + mMeasurementsNotify(gnssMeasurements.gnssMeasNotification) { + if (-1 != msInWeek) { + mAdapter.getAgcInformation(mMeasurementsNotify, msInWeek); + } } - } - inline virtual void proc() const { - mAdapter.reportGnssMeasurementData(mMeasurementsNotify); - } - }; + inline virtual void proc() const { + mAdapter.reportGnssMeasurementData(mMeasurementsNotify); + } + }; - sendMsg(new MsgReportGnssMeasurementData(*this, gnssMeasurements, msInWeek)); + sendMsg(new MsgReportGnssMeasurementData(*this, gnssMeasurements, msInWeek)); + } mEngHubProxy->gnssReportSvMeasurement(gnssMeasurements.gnssSvMeasurementSet); } diff --git a/location/LocationDataTypes.h b/location/LocationDataTypes.h index d6abda2e..0d0753f8 100644 --- a/location/LocationDataTypes.h +++ b/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 { @@ -583,7 +584,9 @@ typedef enum { /** SBAS L1 RF Band */ GNSS_SIGNAL_SBAS_L1 = (1<<17), /** NAVIC L5 RF Band */ - GNSS_SIGNAL_NAVIC_L5 = (1<<18) + GNSS_SIGNAL_NAVIC_L5 = (1<<18), + /** BEIDOU B2A_Q RF Band */ + GNSS_SIGNAL_BEIDOU_B2AQ = (1<<19) } GnssSignalTypeBits; #define GNSS_SIGNAL_TYPE_MASK_ALL\ @@ -593,12 +596,14 @@ typedef enum { GNSS_SIGNAL_BEIDOU_B1I | GNSS_SIGNAL_BEIDOU_B1C | GNSS_SIGNAL_BEIDOU_B2I|\ GNSS_SIGNAL_BEIDOU_B2AI | GNSS_SIGNAL_QZSS_L1CA | GNSS_SIGNAL_QZSS_L1S |\ GNSS_SIGNAL_QZSS_L2| GNSS_SIGNAL_QZSS_L5 | GNSS_SIGNAL_SBAS_L1 |\ - GNSS_SIGNAL_NAVIC_L5) + GNSS_SIGNAL_NAVIC_L5) | GNSS_SIGNAL_BEIDOU_B2AQ 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, @@ -611,8 +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 { @@ -635,7 +642,8 @@ typedef enum { GNSS_LOC_SIGNAL_TYPE_QZSS_L5_Q = 16, /**< QZSS L5_Q RF Band */ GNSS_LOC_SIGNAL_TYPE_SBAS_L1_CA = 17, /**< SBAS L1_CA RF Band */ GNSS_LOC_SIGNAL_TYPE_NAVIC_L5 = 18, /**< NAVIC L5 RF Band */ - GNSS_LOC_MAX_NUMBER_OF_SIGNAL_TYPES = 19 /**< Maximum number of signal types */ + GNSS_LOC_SIGNAL_TYPE_BEIDOU_B2A_Q = 19, /**< BEIDOU B2A_Q RF Band */ + GNSS_LOC_MAX_NUMBER_OF_SIGNAL_TYPES = 20 /**< Maximum number of signal types */ } Gnss_LocSignalEnumType; typedef uint64_t GnssDataMask; @@ -692,6 +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 @@ -938,7 +960,8 @@ typedef struct { } GnssSystemTime; typedef struct { - uint32_t size; // set to sizeof(GnssLocationInfo) + uint32_t size; // set to sizeof(GnssLocationInfo) + Location location; // basic locaiton info, latitude, longitude, and etc GnssLocationInfoFlagMask flags; // bitwise OR of GnssLocationInfoBits for param validity float altitudeMeanSeaLevel; // altitude wrt mean sea level float pdop; // position dilusion of precision @@ -971,7 +994,9 @@ typedef struct { GnssMeasUsageInfo measUsageInfo[GNSS_SV_MAX]; // GNSS Measurement Usage info uint8_t leapSeconds; // leap second float timeUncMs; // Time uncertainty in milliseconds - Location location; + uint8_t calibrationConfidence; // Sensor calibration confidence percent, + // in range of [0, 100] + DrCalibrationStatusMask calibrationStatus; // Sensor calibration status } GnssLocationInfoNotification; typedef struct { diff --git a/utils/LocIpc.cpp b/utils/LocIpc.cpp index 646d2d4f..e8578174 100644 --- a/utils/LocIpc.cpp +++ b/utils/LocIpc.cpp @@ -164,7 +164,8 @@ public: umask(0157); if (mSock->isValid() && ::bind(mSock->mSid, (struct sockaddr*)&mAddr, sizeof(mAddr)) < 0) { - LOC_LOGe("bind socket error. sock fd: %d, reason: %s", mSock->mSid, strerror(errno)); + LOC_LOGe("bind socket error. sock fd: %d: %s, reason: %s", mSock->mSid, + mAddr.sun_path, strerror(errno)); mSock->close(); } } @@ -177,26 +178,22 @@ public: } }; -class LocIpcInetTcpSender : public LocIpcSender { +class LocIpcInetSender : public LocIpcSender { protected: + int mSockType; shared_ptr mSock; const string mName; sockaddr_in mAddr; - mutable bool mFirstTime; inline virtual bool isOperable() const override { return mSock != nullptr && mSock->isValid(); } - inline virtual ssize_t send(const uint8_t data[], uint32_t length, int32_t /* msgId */) const { - if (mFirstTime) { - mFirstTime = false; - ::connect(mSock->mSid, (const struct sockaddr*)&mAddr, sizeof(mAddr)); - } + virtual ssize_t send(const uint8_t data[], uint32_t length, int32_t /* msgId */) const { return mSock->send(data, length, 0, (struct sockaddr*)&mAddr, sizeof(mAddr)); } public: - inline LocIpcInetTcpSender(const char* name, int32_t port) : LocIpcSender(), - mSock(make_shared((nullptr == name) ? -1 : (::socket(AF_INET, SOCK_STREAM, 0)))), + inline LocIpcInetSender(const char* name, int32_t port, int sockType) : LocIpcSender(), + mSockType(sockType), + mSock(make_shared((nullptr == name) ? -1 : (::socket(AF_INET, mSockType, 0)))), mName((nullptr == name) ? "" : name), - mAddr({.sin_family=AF_INET, .sin_port=htons(port), .sin_addr={htonl(INADDR_ANY)}}), - mFirstTime(true) { + mAddr({.sin_family=AF_INET, .sin_port=htons(port), .sin_addr={htonl(INADDR_ANY)}}) { if (mSock != nullptr && mSock->isValid() && nullptr != name) { struct hostent* hp = gethostbyname(name); if (nullptr != hp) { @@ -206,7 +203,47 @@ public: } }; -class LocIpcInetTcpRecver : public LocIpcInetTcpSender, public LocIpcRecver { +class LocIpcInetTcpSender : public LocIpcInetSender { +protected: + mutable bool mFirstTime; + + virtual ssize_t send(const uint8_t data[], uint32_t length, int32_t /* msgId */) const { + if (mFirstTime) { + mFirstTime = false; + ::connect(mSock->mSid, (const struct sockaddr*)&mAddr, sizeof(mAddr)); + } + return mSock->send(data, length, 0, (struct sockaddr*)&mAddr, sizeof(mAddr)); + } + +public: + inline LocIpcInetTcpSender(const char* name, int32_t port) : + LocIpcInetSender(name, port, SOCK_STREAM), + mFirstTime(true) {} +}; + +class LocIpcInetRecver : public LocIpcInetSender, public LocIpcRecver { +protected: + virtual ssize_t recv() const = 0; +public: + inline LocIpcInetRecver(const shared_ptr& listener, const char* name, + int32_t port, int sockType) : + LocIpcInetSender(name, port, sockType), LocIpcRecver(listener, *this) { + if (mSock->isValid() && ::bind(mSock->mSid, (struct sockaddr*)&mAddr, sizeof(mAddr)) < 0) { + LOC_LOGe("bind socket error. sock fd: %d, reason: %s", mSock->mSid, strerror(errno)); + mSock->close(); + } + } + inline virtual ~LocIpcInetRecver() {} + inline virtual const char* getName() const override { return mName.data(); }; + inline virtual void abort() const override { + if (isSendable()) { + mSock->sendAbort(0, (struct sockaddr*)&mAddr, sizeof(mAddr)); + } + } + +}; + +class LocIpcInetTcpRecver : public LocIpcInetRecver { mutable int32_t mConnFd; protected: inline virtual ssize_t recv() const override { @@ -223,21 +260,26 @@ protected: public: inline LocIpcInetTcpRecver(const shared_ptr& listener, const char* name, int32_t port) : - LocIpcInetTcpSender(name, port), LocIpcRecver(listener, *this), mConnFd(-1) { - if (mSock->isValid() && ::bind(mSock->mSid, (struct sockaddr*)&mAddr, sizeof(mAddr)) < 0) { - LOC_LOGe("bind socket error. sock fd: %d, reason: %s", mSock->mSid, strerror(errno)); - mSock->close(); - } - } - inline virtual ~LocIpcInetTcpRecver() { if (-1 != mConnFd) ::close(mConnFd); } - inline virtual const char* getName() const override { return mName.data(); }; - inline virtual void abort() const override { - if (isSendable()) { - mSock->sendAbort(0, (struct sockaddr*)&mAddr, sizeof(mAddr)); - } - } + LocIpcInetRecver(listener, name, port, SOCK_STREAM), mConnFd(-1) {} + inline virtual ~LocIpcInetTcpRecver() { if (-1 != mConnFd) ::close(mConnFd);} }; +class LocIpcInetUdpRecver : public LocIpcInetRecver { +protected: + inline virtual ssize_t recv() const override { + socklen_t size = sizeof(mAddr); + return mSock->recv(mDataCb, 0, (struct sockaddr*)&mAddr, &size); + } +public: + inline LocIpcInetUdpRecver(const shared_ptr& listener, const char* name, + int32_t port) : + LocIpcInetRecver(listener, name, port, SOCK_DGRAM) {} + + inline virtual ~LocIpcInetUdpRecver() {} +}; + + + #ifdef NOT_DEFINED class LocIpcQcsiSender : public LocIpcSender { protected: @@ -365,9 +407,16 @@ shared_ptr LocIpc::getLocIpcInetTcpSender(const char* serverName, return make_shared(serverName, port); } unique_ptr LocIpc::getLocIpcInetTcpRecver(const shared_ptr& listener, - const char* serverName, int32_t port) { + const char* serverName, int32_t port) { return make_unique(listener, serverName, port); } +shared_ptr LocIpc::getLocIpcInetUdpSender(const char* serverName, int32_t port) { + return make_shared(serverName, port, SOCK_DGRAM); +} +unique_ptr LocIpc::getLocIpcInetUdpRecver(const shared_ptr& listener, + const char* serverName, int32_t port) { + return make_unique(listener, serverName, port); +} pair, unique_ptr> LocIpc::getLocIpcQmiLocServiceSenderRecverPair(const shared_ptr& listener, int instance) { typedef pair, unique_ptr> (*creator_t)(const shared_ptr&, int); diff --git a/utils/LocIpc.h b/utils/LocIpc.h index b91966cb..af4c2c3a 100644 --- a/utils/LocIpc.h +++ b/utils/LocIpc.h @@ -66,6 +66,8 @@ public: static shared_ptr getLocIpcLocalSender(const char* localSockName); + static shared_ptr + getLocIpcInetUdpSender(const char* serverName, int32_t port); static shared_ptr getLocIpcInetTcpSender(const char* serverName, int32_t port); static shared_ptr @@ -74,6 +76,9 @@ public: static unique_ptr getLocIpcLocalRecver(const shared_ptr& listener, const char* localSockName); + static unique_ptr + getLocIpcInetUdpRecver(const shared_ptr& listener, + const char* serverName, int32_t port); static unique_ptr getLocIpcInetTcpRecver(const shared_ptr& listener, const char* serverName, int32_t port); @@ -122,6 +127,7 @@ protected: virtual bool isOperable() const = 0; virtual ssize_t send(const uint8_t data[], uint32_t length, int32_t msgId) const = 0; public: + virtual void informRecverRestarted() {} inline bool isSendable() const { return isOperable(); } inline bool sendData(const uint8_t data[], uint32_t length, int32_t msgId) const { return isSendable() && (send(data, length, msgId) > 0); diff --git a/utils/gps_extended_c.h b/utils/gps_extended_c.h index 9f4c13c3..d1a2811f 100644 --- a/utils/gps_extended_c.h +++ b/utils/gps_extended_c.h @@ -35,7 +35,12 @@ #include #include #include -#include + +struct timespec32_t { + uint32_t tv_sec; /* seconds */ + uint32_t tv_nsec; /* and nanoseconds */ +}; + /** * @file @@ -132,7 +137,7 @@ typedef enum { typedef struct { /** set to sizeof(UlpLocation) */ - size_t size; + uint32_t size; LocGpsLocation gpsLocation; /* Provider indicator for HYBRID or GPS */ uint16_t position_source; @@ -142,7 +147,7 @@ typedef struct { typedef struct { /** set to sizeof(UlpNmea) */ - size_t size; + uint32_t size; char nmea_str[ULP_MAX_NMEA_STRING_SIZE]; unsigned int len; } UlpNmea; @@ -208,7 +213,7 @@ typedef struct { /** GPS extended callback structure. */ typedef struct { /** set to sizeof(LocGpsCallbacks) */ - size_t size; + uint32_t size; loc_gps_set_capabilities set_capabilities_cb; loc_gps_acquire_wakelock acquire_wakelock_cb; loc_gps_release_wakelock release_wakelock_cb; @@ -232,7 +237,7 @@ typedef struct { /** Represents the status of AGPS. */ typedef struct { /** set to sizeof(AGpsExtStatus) */ - size_t size; + uint32_t size; AGpsExtType type; LocAGpsStatusValue status; @@ -367,15 +372,19 @@ typedef uint64_t GpsLocationExtendedFlags; /** GpsLocationExtended has Clock drift*/ #define GPS_LOCATION_EXTENDED_HAS_CLOCK_DRIFT 0x20000000 /** GpsLocationExtended has Clock drift std deviation**/ -#define GPS_LOCATION_EXTENDED_HAS_CLOCK_DRIFT_STD_DEV 0x40000000 +#define GPS_LOCATION_EXTENDED_HAS_CLOCK_DRIFT_STD_DEV 0x40000000 /** GpsLocationExtended has leap seconds **/ -#define GPS_LOCATION_EXTENDED_HAS_LEAP_SECONDS 0x80000000 +#define GPS_LOCATION_EXTENDED_HAS_LEAP_SECONDS 0x80000000 /** GpsLocationExtended has time uncertainty **/ -#define GPS_LOCATION_EXTENDED_HAS_TIME_UNC 0x100000000 +#define GPS_LOCATION_EXTENDED_HAS_TIME_UNC 0x100000000 /** GpsLocationExtended has heading rate **/ -#define GPS_LOCATION_EXTENDED_HAS_HEADING_RATE 0x200000000 +#define GPS_LOCATION_EXTENDED_HAS_HEADING_RATE 0x200000000 /** GpsLocationExtended has multiband signals **/ -#define GPS_LOCATION_EXTENDED_HAS_MULTIBAND 0x400000000 +#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 */ @@ -392,6 +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 */ @@ -458,7 +469,7 @@ typedef enum { }LocReliability; typedef struct { - struct timespec apTimeStamp; + struct timespec32_t apTimeStamp; /*boottime received from pps-ktimer*/ float apTimeStampUncertaintyMs; /* timestamp uncertainty in milli seconds */ @@ -492,6 +503,7 @@ typedef struct { uint64_t qzss_l2_sv_used_ids_mask; // QZSS L2 uint64_t qzss_l5_sv_used_ids_mask; // QZSS L5 uint64_t sbas_l1_sv_used_ids_mask; // SBAS L1 + uint64_t bds_b2aq_sv_used_ids_mask; // BDS B2AQ } GnssSvMbUsedInPosition; /* Body Frame parameters */ @@ -600,6 +612,8 @@ typedef uint32_t GnssSignalTypeMask; #define GNSS_SIGNAL_SBAS_L1 ((GnssSignalTypeMask)0x00020000ul) /** NAVIC L5 RF Band */ #define GNSS_SIGNAL_NAVIC_L5 ((GnssSignalTypeMask)0x00040000ul) +/** BEIDOU B2A_Q RF Band */ +#define GNSS_SIGNAL_BEIDOU_B2AQ ((GnssSignalTypeMask)0x00080000ul) typedef uint16_t GnssMeasUsageStatusBitMask; /** Used in fix */ @@ -685,7 +699,7 @@ typedef struct { /** Represents gps location extended. */ typedef struct { /** set to sizeof(GpsLocationExtended) */ - size_t size; + uint32_t size; /** Contains GpsLocationExtendedFlags bits. */ uint64_t flags; /** Contains the Altitude wrt mean sea level */ @@ -784,6 +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 { @@ -1058,7 +1075,7 @@ typedef enum typedef struct { - size_t size; + uint32_t size; float clockDrift; /**< Receiver clock Drift \n - Units: meter per sec \n @@ -1072,7 +1089,7 @@ typedef struct typedef struct { - size_t size; + uint32_t size; uint8_t leapSec; /**< GPS time leap second delta to UTC time \n - Units: sec \n @@ -1093,7 +1110,7 @@ typedef enum typedef struct { - size_t size; + uint32_t size; uint32_t validMask; /* Validity mask as per Gnss_LocInterSystemBiasValidMaskType */ @@ -1110,7 +1127,7 @@ typedef struct typedef struct { - size_t size; + uint32_t size; uint8_t systemRtc_valid; /**< Validity indicator for System RTC */ @@ -1156,7 +1173,7 @@ typedef enum typedef struct { - size_t size; + uint32_t size; uint32_t svMs; /**< Satellite time milisecond.\n For GPS, BDS, GAL range of 0 thru (604800000-1) \n @@ -1216,7 +1233,7 @@ typedef enum typedef struct { - size_t size; + uint32_t size; Gnss_LocSvSystemEnumType gnssSystem; // 0 signal type mask indicates invalid value GnssSignalTypeMask gnssSignalTypeMask; @@ -1389,7 +1406,7 @@ typedef uint64_t GpsSvMeasHeaderFlags; typedef struct { - size_t size; + uint32_t size; // see defines in GNSS_SV_MEAS_HEADER_HAS_XXX_XXX uint64_t flags; @@ -1433,7 +1450,7 @@ typedef struct } GnssSvMeasurementHeader; typedef struct { - size_t size; + uint32_t size; bool isNhz; GnssSvMeasurementHeader svMeasSetHeader; uint32_t svMeasCount; @@ -1473,7 +1490,7 @@ typedef enum typedef struct { - size_t size; + uint32_t size; uint16_t gnssSvId; /* GPS: 1-32, GLO: 65-96, 0: Invalid, SBAS: 120-151, BDS:201-237,GAL:301 to 336 @@ -2034,7 +2051,7 @@ typedef enum { typedef struct { - size_t size; + uint32_t size; Gnss_SrnTech srnTechType; /* SRN Technology type in request */ bool srnRequest; /* scan - start(true) or stop(false) */ bool e911Mode; /* If in E911 emergency */ @@ -2054,7 +2071,7 @@ typedef enum { /* This SV Type config is injected directly to GNSS Adapter * bypassing Location API */ typedef struct { - size_t size; // set to sizeof(GnssSvTypeConfig) + uint32_t size; // set to sizeof(GnssSvTypeConfig) // Enabled Constellations GnssSvTypesMask enabledSvTypesMask; // Disabled Constellations @@ -2141,7 +2158,7 @@ enum OdcpiRequestType { ODCPI_REQUEST_TYPE_STOP }; struct OdcpiRequestInfo { - size_t size; + uint32_t size; OdcpiRequestType type; uint32_t tbfMillis; bool isEmergencyMode; diff --git a/utils/loc_cfg.cpp b/utils/loc_cfg.cpp index de887eec..55e4804e 100644 --- a/utils/loc_cfg.cpp +++ b/utils/loc_cfg.cpp @@ -622,6 +622,9 @@ int loc_read_process_conf(const char* conf_file_name, uint32_t * process_count_p LOC_LOGD("%s:%d]: Setting SAP to mode: BASIC", __func__, __LINE__); loc_service_mask |= LOC_FEATURE_MASK_SAP_BASIC; } + else if(strcmp(conf.feature_sap, "MODEM_DEFAULT") == 0) { + LOC_LOGD("%s:%d]: Setting SAP to mode: MODEM_DEFAULT", __func__, __LINE__); + } else if(strcmp(conf.feature_sap, "DISABLED") == 0) { LOC_LOGD("%s:%d]: Setting SAP to mode: DISABLED", __func__, __LINE__); } diff --git a/utils/loc_gps.h b/utils/loc_gps.h index b58f20b0..eae7383e 100644 --- a/utils/loc_gps.h +++ b/utils/loc_gps.h @@ -548,7 +548,7 @@ typedef uint8_t LocGnssConstellationType; /** Represents a location. */ typedef struct { /** set to sizeof(LocGpsLocation) */ - size_t size; + uint32_t size; /** Contains LocGpsLocationFlags bits. */ uint16_t flags; /** The spoof mask */ diff --git a/utils/loc_nmea.cpp b/utils/loc_nmea.cpp index abcf5b73..f5090d05 100644 --- a/utils/loc_nmea.cpp +++ b/utils/loc_nmea.cpp @@ -36,6 +36,7 @@ #include #define GLONASS_SV_ID_OFFSET 64 +#define MAX_SV_COUNT_SUPPORTED_IN_ONE_CONSTELLATION 64 #define MAX_SATELLITES_IN_USE 12 #define MSEC_IN_ONE_WEEK 604800000ULL #define UTC_GPS_OFFSET_MSECS 315964800000ULL @@ -109,8 +110,9 @@ typedef struct loc_nmea_sv_meta_s { char talker[3]; LocGnssConstellationType svType; - uint32_t mask; + uint64_t mask; uint32_t svCount; + uint32_t totalSvUsedCount; uint32_t svIdOffset; uint32_t signalId; uint32_t systemId; @@ -118,12 +120,12 @@ typedef struct loc_nmea_sv_meta_s 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 bds_used_mask; - uint32_t navic_used_mask; + uint64_t gps_used_mask; + uint64_t glo_used_mask; + uint64_t gal_used_mask; + uint64_t qzss_used_mask; + uint64_t bds_used_mask; + uint64_t navic_used_mask; uint32_t gps_l1_count; uint32_t gps_l5_count; uint32_t glo_g1_count; @@ -324,6 +326,7 @@ static uint32_t convert_signalType_to_signalId(GnssSignalTypeMask signalType) signalId = SIGNAL_ID_BDS_B2I; break; case GNSS_SIGNAL_BEIDOU_B2AI: + case GNSS_SIGNAL_BEIDOU_B2AQ: signalId = SIGNAL_ID_BDS_B2A; break; case GNSS_SIGNAL_NAVIC_L5: @@ -337,6 +340,39 @@ static uint32_t convert_signalType_to_signalId(GnssSignalTypeMask signalType) } +/*=========================================================================== +FUNCTION get_sv_count_from_mask + +DESCRIPTION + get the sv count from bit mask + +DEPENDENCIES + NONE + +RETURN VALUE + value of sv count + +SIDE EFFECTS + N/A + +===========================================================================*/ +static uint32_t get_sv_count_from_mask(uint64_t svMask, int totalSvCount) +{ + int index = 0; + uint32_t svCount = 0; + + if(totalSvCount > MAX_SV_COUNT_SUPPORTED_IN_ONE_CONSTELLATION) { + LOC_LOGE("total SV count in this constellation %d exceeded limit %d", + totalSvCount, MAX_SV_COUNT_SUPPORTED_IN_ONE_CONSTELLATION); + } + for(index = 0; index < totalSvCount; index++) { + if(svMask & 0x1) + svCount += 1; + svMask >>= 1; + } + return svCount; +} + /*=========================================================================== FUNCTION loc_nmea_sv_meta_init @@ -438,6 +474,19 @@ static loc_nmea_sv_meta* loc_nmea_sv_meta_init(loc_nmea_sv_meta& sv_meta, return NULL; } sv_meta.signalId = convert_signalType_to_signalId(signalType); + sv_meta.totalSvUsedCount = + get_sv_count_from_mask(sv_cache_info.gps_used_mask, + GPS_SV_PRN_MAX - GPS_SV_PRN_MIN + 1) + + get_sv_count_from_mask(sv_cache_info.glo_used_mask, + GLO_SV_PRN_MAX - GLO_SV_PRN_MIN + 1) + + get_sv_count_from_mask(sv_cache_info.gal_used_mask, + GAL_SV_PRN_MAX - GAL_SV_PRN_MIN + 1) + + get_sv_count_from_mask(sv_cache_info.qzss_used_mask, + QZSS_SV_PRN_MAX - QZSS_SV_PRN_MIN + 1) + + get_sv_count_from_mask(sv_cache_info.bds_used_mask, + BDS_SV_PRN_MAX - BDS_SV_PRN_MIN + 1) + + get_sv_count_from_mask(sv_cache_info.navic_used_mask, + NAVIC_SV_PRN_MAX - NAVIC_SV_PRN_MIN + 1); if (needCombine && (sv_cache_info.gps_used_mask ? 1 : 0) + (sv_cache_info.glo_used_mask ? 1 : 0) + @@ -532,27 +581,27 @@ static uint32_t loc_nmea_generate_GSA(const GpsLocationExtended &locationExtende int length = 0; uint32_t svUsedCount = 0; - uint32_t svUsedList[32] = {0}; + uint32_t svUsedList[64] = {0}; char fixType = '\0'; const char* talker = sv_meta_p->talker; uint32_t svIdOffset = sv_meta_p->svIdOffset; - uint32_t mask = sv_meta_p->mask; + uint64_t mask = sv_meta_p->mask; - for (uint8_t i = 1; mask > 0 && svUsedCount < 32; i++) + for (uint8_t i = 1; mask > 0 && svUsedCount < 64; i++) { if (mask & 1) svUsedList[svUsedCount++] = i + svIdOffset; mask = mask >> 1; } - if (svUsedCount == 0 && GNSS_SV_TYPE_GPS != sv_meta_p->svType) + if (svUsedCount == 0) return 0; - if (svUsedCount == 0) + if (sv_meta_p->totalSvUsedCount == 0) fixType = '1'; // no fix - else if (svUsedCount <= 3) + else if (sv_meta_p->totalSvUsedCount <= 3) fixType = '2'; // 2D fix else fixType = '3'; // 3D fix @@ -665,10 +714,7 @@ static void loc_nmea_generate_GSV(const GnssSvNotification &svNotify, int svCount = sv_meta_p->svCount; if (svCount <= 0) { - // no svs in view, so just send a blank $--GSV sentence - snprintf(sentence, lengthRemaining, "$%sGSV,1,1,0,%X", talker, sv_meta_p->signalId); - length = loc_nmea_put_checksum(sentence, bufSize); - nmeaArraystr.push_back(sentence); + LOC_LOGV("No SV in view for talker ID:%s, signal ID:%X", talker, sv_meta_p->signalId); return; } @@ -880,7 +926,7 @@ 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 +946,12 @@ SIDE EFFECTS N/A ===========================================================================*/ -bool getUtcTimeWithLeapSecondTransition(const UlpLocation &location, - const GpsLocationExtended &locationExtended, - const LocationSystemInfo &systemInfo, - LocGpsUtcTime &utcPosTimestamp) { +static bool get_utctime_with_leapsecond_transition( + const UlpLocation &location, + const GpsLocationExtended &locationExtended, + const LocationSystemInfo &systemInfo, + LocGpsUtcTime &utcPosTimestamp) +{ bool inTransition = false; // position report is not generated during leap second transition, @@ -952,6 +1000,94 @@ 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 +1123,7 @@ 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); @@ -1035,19 +1171,22 @@ void loc_nmea_generate_pos(const UlpLocation &location, if (GPS_LOCATION_EXTENDED_HAS_GNSS_SV_USED_DATA & locationExtended.flags) { sv_cache_info.gps_used_mask = - (uint32_t)locationExtended.gnss_sv_used_ids.gps_sv_used_ids_mask; + locationExtended.gnss_sv_used_ids.gps_sv_used_ids_mask; sv_cache_info.glo_used_mask = - (uint32_t)locationExtended.gnss_sv_used_ids.glo_sv_used_ids_mask; + locationExtended.gnss_sv_used_ids.glo_sv_used_ids_mask; sv_cache_info.gal_used_mask = - (uint32_t)locationExtended.gnss_sv_used_ids.gal_sv_used_ids_mask; - sv_cache_info.qzss_used_mask = - (uint32_t)locationExtended.gnss_sv_used_ids.bds_sv_used_ids_mask; + locationExtended.gnss_sv_used_ids.gal_sv_used_ids_mask; sv_cache_info.bds_used_mask = - (uint32_t)locationExtended.gnss_sv_used_ids.qzss_sv_used_ids_mask; + locationExtended.gnss_sv_used_ids.bds_sv_used_ids_mask; + sv_cache_info.qzss_used_mask = + locationExtended.gnss_sv_used_ids.qzss_sv_used_ids_mask; + sv_cache_info.navic_used_mask = + locationExtended.gnss_sv_used_ids.navic_sv_used_ids_mask; } if (generate_nmea) { char talker[3] = {'G', 'P', '\0'}; + char modeIndicator[7] = {0}; uint32_t svUsedCount = 0; uint32_t count = 0; loc_nmea_sv_meta sv_meta; @@ -1093,8 +1232,21 @@ void loc_nmea_generate_pos(const UlpLocation &location, talker[1] = sv_meta.talker[1]; } + // ---------------------------- + // ---$GBGSA/$GNGSA (BEIDOU)--- + // ---------------------------- + count = loc_nmea_generate_GSA(locationExtended, sentence, sizeof(sentence), + loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_BEIDOU, + GNSS_SIGNAL_BEIDOU_B1I, true), nmeaArraystr); + if (count > 0) + { + svUsedCount += count; + talker[0] = sv_meta.talker[0]; + talker[1] = sv_meta.talker[1]; + } + // -------------------------- - // ---$PQGSA/$GNGSA (QZSS)--- + // ---$GQGSA/$GNGSA (QZSS)--- // -------------------------- count = loc_nmea_generate_GSA(locationExtended, sentence, sizeof(sentence), @@ -1107,18 +1259,11 @@ void loc_nmea_generate_pos(const UlpLocation &location, talker[1] = sv_meta.talker[1]; } - // ---------------------------- - // ---$PQGSA/$GNGSA (BEIDOU)--- - // ---------------------------- - count = loc_nmea_generate_GSA(locationExtended, sentence, sizeof(sentence), - loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_BEIDOU, - GNSS_SIGNAL_BEIDOU_B1I, true), nmeaArraystr); - if (count > 0) - { - svUsedCount += count; - talker[0] = sv_meta.talker[0]; - 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 +1319,7 @@ void loc_nmea_generate_pos(const UlpLocation &location, pMarker += length; lengthRemaining -= length; - if (!(location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_LAT_LONG)) - // 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 = snprintf(pMarker, lengthRemaining, "%c", vtgModeIndicator); length = loc_nmea_put_checksum(sentence, sizeof(sentence)); nmeaArraystr.push_back(sentence); @@ -1372,18 +1507,7 @@ void loc_nmea_generate_pos(const UlpLocation &location, pMarker += length; lengthRemaining -= length; - if (!(location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_LAT_LONG)) - // 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 = snprintf(pMarker, lengthRemaining, "%c", rmcModeIndicator); pMarker += length; lengthRemaining -= length; @@ -1461,17 +1585,49 @@ void loc_nmea_generate_pos(const UlpLocation &location, pMarker += length; lengthRemaining -= length; - if (!(location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_LAT_LONG)) - // N means no fix - length = snprintf(pMarker, lengthRemaining, "%c,", 'N'); + if(!(sv_cache_info.gps_used_mask ? 1 : 0)) + modeIndicator[0] = 'N'; else if (LOC_NAV_MASK_SBAS_CORRECTION_IONO & locationExtended.navSolutionMask) - // D means differential - length = snprintf(pMarker, lengthRemaining, "%c,", 'D'); + modeIndicator[0] = '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'); + modeIndicator[0] = 'E'; + else + modeIndicator[0] = 'A'; + if(!(sv_cache_info.glo_used_mask ? 1 : 0)) + modeIndicator[1] = 'N'; + else if (LOC_POS_TECH_MASK_SENSORS == locationExtended.tech_mask) + modeIndicator[1] = 'E'; + else + modeIndicator[1] = 'A'; + if(!(sv_cache_info.gal_used_mask ? 1 : 0)) + modeIndicator[2] = 'N'; + else if (LOC_POS_TECH_MASK_SENSORS == locationExtended.tech_mask) + modeIndicator[2] = 'E'; + else + modeIndicator[2] = 'A'; + if(!(sv_cache_info.bds_used_mask ? 1 : 0)) + modeIndicator[3] = 'N'; + else if (LOC_POS_TECH_MASK_SENSORS == locationExtended.tech_mask) + modeIndicator[3] = 'E'; + else + modeIndicator[3] = 'A'; + if(!(sv_cache_info.qzss_used_mask ? 1 : 0)) + modeIndicator[4] = 'N'; + else if (LOC_POS_TECH_MASK_SENSORS == locationExtended.tech_mask) + modeIndicator[4] = 'E'; + else + modeIndicator[4] = 'A'; + if(!(sv_cache_info.navic_used_mask ? 1 : 0)) + modeIndicator[5] = 'N'; + else if (LOC_POS_TECH_MASK_SENSORS == locationExtended.tech_mask) + modeIndicator[5] = 'E'; + else + modeIndicator[5] = 'A'; + modeIndicator[6] = '\0'; + for(int index = 5; index > 0 && 'N' == modeIndicator[index]; index--) { + modeIndicator[index] = '\0'; + } + length = snprintf(pMarker, lengthRemaining,"%s,", modeIndicator); pMarker += length; lengthRemaining -= length; @@ -1600,28 +1756,18 @@ 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) @@ -1687,10 +1833,6 @@ void loc_nmea_generate_pos(const UlpLocation &location, length = loc_nmea_put_checksum(sentence, sizeof(sentence)); nmeaArraystr.push_back(sentence); - strlcpy(sentence, "$GNGSA,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);