Merge 59496905e8 on remote branch
Change-Id: I6e041d6b97db5633b67e1197c47ebdcd15d96128
This commit is contained in:
Linux Build Service Account
commit
f7426acb79
8 changed files with 435 additions and 188 deletions
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@ -475,6 +475,16 @@ GnssAdapter::convertLocationInfo(GnssLocationInfoNotification& out,
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out.flags |= GNSS_LOCATION_INFO_TIME_UNC_BIT;
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out.timeUncMs = locationExtended.timeUncMs;
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}
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if (GPS_LOCATION_EXTENDED_HAS_CALIBRATION_CONFIDENCE & locationExtended.flags) {
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out.flags |= GNSS_LOCATION_INFO_CALIBRATION_CONFIDENCE_BIT;
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out.calibrationConfidence = locationExtended.calibrationConfidence;
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}
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if (GPS_LOCATION_EXTENDED_HAS_CALIBRATION_STATUS & locationExtended.flags) {
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out.flags |= GNSS_LOCATION_INFO_CALIBRATION_STATUS_BIT;
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out.calibrationStatus = locationExtended.calibrationStatus;
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}
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}
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@ -659,7 +669,7 @@ GnssAdapter::setSuplHostServer(const char* server, int port, LocServerType type)
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LOC_LOGe("Invalid type=%d", type);
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} else {
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string& url = (LOC_AGPS_SUPL_SERVER == type) ? getServerUrl() : getMoServerUrl();
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if (length > 0 && strncasecmp(url.c_str(), serverUrl, sizeof(serverUrl)) != 0) {
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if (length >= 0 && strncasecmp(url.c_str(), serverUrl, sizeof(serverUrl)) != 0) {
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url.assign(serverUrl);
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if (LOC_AGPS_SUPL_SERVER == type) {
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@ -720,10 +730,7 @@ GnssAdapter::setConfigCommand()
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GNSS_CONFIG_FLAGS_LPPE_CONTROL_PLANE_VALID_BIT |
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GNSS_CONFIG_FLAGS_LPPE_USER_PLANE_VALID_BIT |
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GNSS_CONFIG_FLAGS_BLACKLISTED_SV_IDS_BIT;
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gnssConfigRequested.gpsLock = GNSS_CONFIG_GPS_LOCK_NONE;
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if (0 == adapter.getAfwControlId() || NULL != adapter.mNfwCb) {
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gnssConfigRequested.gpsLock = gpsConf.GPS_LOCK;
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}
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if (gpsConf.AGPS_CONFIG_INJECT) {
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gnssConfigRequested.flags |= GNSS_CONFIG_FLAGS_SET_ASSISTANCE_DATA_VALID_BIT |
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@ -840,7 +847,7 @@ std::vector<LocationError> GnssAdapter::gnssUpdateConfig(const std::string& oldS
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GNSS_CONFIG_FLAGS_SET_ASSISTANCE_DATA_VALID_BIT) {
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if (gnssConfigNeedEngineUpdate.assistanceServer.type ==
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GNSS_ASSISTANCE_TYPE_SUPL) {
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if ((serverUrlLen != 0) && (oldServerUrl.compare(serverUrl) !=0)) {
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if (0 != oldServerUrl.compare(serverUrl)) {
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err = mLocApi->setServerSync(
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serverUrl.c_str(), serverUrlLen, LOC_AGPS_SUPL_SERVER);
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@ -848,7 +855,7 @@ std::vector<LocationError> GnssAdapter::gnssUpdateConfig(const std::string& oldS
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errsList[index] = err;
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}
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}
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if ((moServerUrlLen != 0) && (oldMoServerUrl.compare(moServerUrl) != 0)) {
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if (0 != oldMoServerUrl.compare(moServerUrl)) {
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LocationError locErr =
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mLocApi->setServerSync(moServerUrl.c_str(),
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moServerUrlLen,
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@ -1075,10 +1082,7 @@ GnssAdapter::gnssUpdateConfigCommand(GnssConfig config)
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if (GNSS_CONFIG_GPS_LOCK_NONE == newGpsLock) {
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newGpsLock = GNSS_CONFIG_GPS_LOCK_MO;
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}
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if (newGpsLock == ContextBase::mGps_conf.GPS_LOCK ||
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0 != mAdapter.getAfwControlId() || NULL != adapter.mNfwCb) {
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gnssConfigNeedEngineUpdate.flags &= ~(GNSS_CONFIG_FLAGS_GPS_LOCK_VALID_BIT);
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}
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ContextBase::mGps_conf.GPS_LOCK = newGpsLock;
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index++;
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}
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@ -1636,7 +1640,7 @@ GnssAdapter::gnssSvTypeConfigUpdate(const GnssSvTypeConfig& config)
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void
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GnssAdapter::gnssSvTypeConfigUpdate(bool sendReset)
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{
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LOC_LOGd("size %zu constellations blacklisted 0x%" PRIx64 ", enabled 0x%" PRIx64
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LOC_LOGd("size %" PRIu32" constellations blacklisted 0x%" PRIx64 ", enabled 0x%" PRIx64
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", sendReset %d",
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mGnssSvTypeConfig.size, mGnssSvTypeConfig.blacklistedSvTypesMask,
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mGnssSvTypeConfig.enabledSvTypesMask, sendReset);
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@ -2976,10 +2980,8 @@ GnssAdapter::enableCommand(LocationTechnologyType techType)
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mAdapter.setAfwControlId(mSessionId);
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GnssConfigGpsLock gpsLock = GNSS_CONFIG_GPS_LOCK_NONE;
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if (NULL != mAdapter.mNfwCb) {
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ContextBase::mGps_conf.GPS_LOCK &= GNSS_CONFIG_GPS_LOCK_NI;
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gpsLock = ContextBase::mGps_conf.GPS_LOCK;
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}
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mApi.sendMsg(new LocApiMsg([&mApi = mApi, gpsLock]() {
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mApi.setGpsLockSync(gpsLock);
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}));
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@ -3026,10 +3028,8 @@ GnssAdapter::disableCommand(uint32_t id)
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mContext.modemPowerVote(false);
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mAdapter.setAfwControlId(0);
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if (NULL != mAdapter.mNfwCb) {
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/* We need to disable MO (AFW) */
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ContextBase::mGps_conf.GPS_LOCK |= GNSS_CONFIG_GPS_LOCK_MO;
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}
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GnssConfigGpsLock gpsLock = ContextBase::mGps_conf.GPS_LOCK;
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mApi.sendMsg(new LocApiMsg([&mApi = mApi,gpsLock] () {
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mApi.setGpsLockSync(gpsLock);
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@ -3332,6 +3332,9 @@ GnssAdapter::reportSv(GnssSvNotification& svNotify)
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case GNSS_SIGNAL_BEIDOU_B2AI:
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svUsedIdMask = mGnssMbSvIdUsedInPosition.bds_b2ai_sv_used_ids_mask;
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break;
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case GNSS_SIGNAL_BEIDOU_B2AQ:
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svUsedIdMask = mGnssMbSvIdUsedInPosition.bds_b2aq_sv_used_ids_mask;
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break;
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}
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} else {
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svUsedIdMask = mGnssSvIdUsedInPosition.bds_sv_used_ids_mask;
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@ -3779,6 +3782,7 @@ GnssAdapter::reportGnssMeasurementsEvent(const GnssMeasurements& gnssMeasurement
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{
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LOC_LOGD("%s]: msInWeek=%d", __func__, msInWeek);
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if (0 != gnssMeasurements.gnssMeasNotification.count) {
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struct MsgReportGnssMeasurementData : public LocMsg {
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GnssAdapter& mAdapter;
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GnssMeasurements mGnssMeasurements;
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@ -3799,6 +3803,7 @@ GnssAdapter::reportGnssMeasurementsEvent(const GnssMeasurements& gnssMeasurement
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};
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sendMsg(new MsgReportGnssMeasurementData(*this, gnssMeasurements, msInWeek));
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}
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mEngHubProxy->gnssReportSvMeasurement(gnssMeasurements.gnssSvMeasurementSet);
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}
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@ -172,8 +172,9 @@ typedef enum {
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GNSS_LOCATION_INFO_UP_VEL_UNC_BIT = (1<<21),// valid Up Velocity Uncertainty
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GNSS_LOCATION_INFO_LEAP_SECONDS_BIT = (1<<22),// valid leap seconds
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GNSS_LOCATION_INFO_TIME_UNC_BIT = (1<<23),// valid time uncertainty
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GNSS_LOCATION_INFO_NUM_SV_USED_IN_POSITION_BIT = (1<<24) // number of SV used in position
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GNSS_LOCATION_INFO_NUM_SV_USED_IN_POSITION_BIT = (1<<24), // number of SV used in position
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GNSS_LOCATION_INFO_CALIBRATION_CONFIDENCE_BIT = (1<<25), // valid sensor cal confidence
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GNSS_LOCATION_INFO_CALIBRATION_STATUS_BIT = (1<<26), // valid sensor cal status
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} GnssLocationInfoFlagBits;
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typedef enum {
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@ -583,7 +584,9 @@ typedef enum {
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/** SBAS L1 RF Band */
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GNSS_SIGNAL_SBAS_L1 = (1<<17),
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/** NAVIC L5 RF Band */
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GNSS_SIGNAL_NAVIC_L5 = (1<<18)
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GNSS_SIGNAL_NAVIC_L5 = (1<<18),
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/** BEIDOU B2A_Q RF Band */
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GNSS_SIGNAL_BEIDOU_B2AQ = (1<<19)
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} GnssSignalTypeBits;
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#define GNSS_SIGNAL_TYPE_MASK_ALL\
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@ -593,12 +596,14 @@ typedef enum {
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GNSS_SIGNAL_BEIDOU_B1I | GNSS_SIGNAL_BEIDOU_B1C | GNSS_SIGNAL_BEIDOU_B2I|\
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GNSS_SIGNAL_BEIDOU_B2AI | GNSS_SIGNAL_QZSS_L1CA | GNSS_SIGNAL_QZSS_L1S |\
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GNSS_SIGNAL_QZSS_L2| GNSS_SIGNAL_QZSS_L5 | GNSS_SIGNAL_SBAS_L1 |\
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GNSS_SIGNAL_NAVIC_L5)
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GNSS_SIGNAL_NAVIC_L5) | GNSS_SIGNAL_BEIDOU_B2AQ
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typedef enum
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{
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GNSS_LOC_SV_SYSTEM_UNKNOWN = 0,
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/** unknown sv system. */
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GNSS_LOC_SV_SYSTEM_MIN = 1,
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/**< Min enum of valid SV system. */
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GNSS_LOC_SV_SYSTEM_GPS = 1,
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/**< GPS satellite. */
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GNSS_LOC_SV_SYSTEM_GALILEO = 2,
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@ -611,8 +616,10 @@ typedef enum
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/**< BDS satellite. */
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GNSS_LOC_SV_SYSTEM_QZSS = 6,
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/**< QZSS satellite. */
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GNSS_LOC_SV_SYSTEM_NAVIC = 7
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GNSS_LOC_SV_SYSTEM_NAVIC = 7,
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/**< QZSS satellite. */
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GNSS_LOC_SV_SYSTEM_MAX = 7,
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/**< Max enum of valid SV system. */
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} Gnss_LocSvSystemEnumType;
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typedef enum {
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@ -635,7 +642,8 @@ typedef enum {
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GNSS_LOC_SIGNAL_TYPE_QZSS_L5_Q = 16, /**< QZSS L5_Q RF Band */
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GNSS_LOC_SIGNAL_TYPE_SBAS_L1_CA = 17, /**< SBAS L1_CA RF Band */
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GNSS_LOC_SIGNAL_TYPE_NAVIC_L5 = 18, /**< NAVIC L5 RF Band */
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GNSS_LOC_MAX_NUMBER_OF_SIGNAL_TYPES = 19 /**< Maximum number of signal types */
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GNSS_LOC_SIGNAL_TYPE_BEIDOU_B2A_Q = 19, /**< BEIDOU B2A_Q RF Band */
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GNSS_LOC_MAX_NUMBER_OF_SIGNAL_TYPES = 20 /**< Maximum number of signal types */
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} Gnss_LocSignalEnumType;
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typedef uint64_t GnssDataMask;
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@ -692,6 +700,20 @@ typedef struct {
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GnssAidingDataCommon common; // common aiding data
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} GnssAidingData;
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typedef uint16_t DrCalibrationStatusMask;
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typedef enum {
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// Indicate that roll calibration is needed. Need to take more turns on level ground
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DR_ROLL_CALIBRATION_NEEDED = (1<<0),
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// Indicate that pitch calibration is needed. Need to take more turns on level ground
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DR_PITCH_CALIBRATION_NEEDED = (1<<1),
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// Indicate that yaw calibration is needed. Need to accelerate in a straight line
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DR_YAW_CALIBRATION_NEEDED = (1<<2),
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// Indicate that odo calibration is needed. Need to accelerate in a straight line
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DR_ODO_CALIBRATION_NEEDED = (1<<3),
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// Indicate that gyro calibration is needed. Need to take more turns on level ground
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DR_GYRO_CALIBRATION_NEEDED = (1<<4)
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} DrCalibrationStatusBits;
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typedef struct {
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uint32_t size; // set to sizeof(Location)
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LocationFlagsMask flags; // bitwise OR of LocationFlagsBits to mark which params are valid
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@ -939,6 +961,7 @@ typedef struct {
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typedef struct {
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uint32_t size; // set to sizeof(GnssLocationInfo)
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Location location; // basic locaiton info, latitude, longitude, and etc
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GnssLocationInfoFlagMask flags; // bitwise OR of GnssLocationInfoBits for param validity
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float altitudeMeanSeaLevel; // altitude wrt mean sea level
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float pdop; // position dilusion of precision
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@ -971,7 +994,9 @@ typedef struct {
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GnssMeasUsageInfo measUsageInfo[GNSS_SV_MAX]; // GNSS Measurement Usage info
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uint8_t leapSeconds; // leap second
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float timeUncMs; // Time uncertainty in milliseconds
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Location location;
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uint8_t calibrationConfidence; // Sensor calibration confidence percent,
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// in range of [0, 100]
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DrCalibrationStatusMask calibrationStatus; // Sensor calibration status
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} GnssLocationInfoNotification;
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typedef struct {
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@ -164,7 +164,8 @@ public:
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umask(0157);
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if (mSock->isValid() && ::bind(mSock->mSid, (struct sockaddr*)&mAddr, sizeof(mAddr)) < 0) {
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LOC_LOGe("bind socket error. sock fd: %d, reason: %s", mSock->mSid, strerror(errno));
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LOC_LOGe("bind socket error. sock fd: %d: %s, reason: %s", mSock->mSid,
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mAddr.sun_path, strerror(errno));
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mSock->close();
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}
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}
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@ -177,26 +178,22 @@ public:
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}
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};
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class LocIpcInetTcpSender : public LocIpcSender {
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class LocIpcInetSender : public LocIpcSender {
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protected:
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int mSockType;
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shared_ptr<Sock> mSock;
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const string mName;
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sockaddr_in mAddr;
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mutable bool mFirstTime;
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inline virtual bool isOperable() const override { return mSock != nullptr && mSock->isValid(); }
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inline virtual ssize_t send(const uint8_t data[], uint32_t length, int32_t /* msgId */) const {
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if (mFirstTime) {
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mFirstTime = false;
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::connect(mSock->mSid, (const struct sockaddr*)&mAddr, sizeof(mAddr));
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}
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virtual ssize_t send(const uint8_t data[], uint32_t length, int32_t /* msgId */) const {
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return mSock->send(data, length, 0, (struct sockaddr*)&mAddr, sizeof(mAddr));
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}
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public:
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inline LocIpcInetTcpSender(const char* name, int32_t port) : LocIpcSender(),
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mSock(make_shared<Sock>((nullptr == name) ? -1 : (::socket(AF_INET, SOCK_STREAM, 0)))),
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inline LocIpcInetSender(const char* name, int32_t port, int sockType) : LocIpcSender(),
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mSockType(sockType),
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mSock(make_shared<Sock>((nullptr == name) ? -1 : (::socket(AF_INET, mSockType, 0)))),
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mName((nullptr == name) ? "" : name),
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mAddr({.sin_family=AF_INET, .sin_port=htons(port), .sin_addr={htonl(INADDR_ANY)}}),
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mFirstTime(true) {
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mAddr({.sin_family=AF_INET, .sin_port=htons(port), .sin_addr={htonl(INADDR_ANY)}}) {
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if (mSock != nullptr && mSock->isValid() && nullptr != name) {
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struct hostent* hp = gethostbyname(name);
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if (nullptr != hp) {
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@ -206,7 +203,47 @@ public:
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}
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};
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class LocIpcInetTcpRecver : public LocIpcInetTcpSender, public LocIpcRecver {
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class LocIpcInetTcpSender : public LocIpcInetSender {
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protected:
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mutable bool mFirstTime;
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virtual ssize_t send(const uint8_t data[], uint32_t length, int32_t /* msgId */) const {
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if (mFirstTime) {
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mFirstTime = false;
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::connect(mSock->mSid, (const struct sockaddr*)&mAddr, sizeof(mAddr));
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}
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return mSock->send(data, length, 0, (struct sockaddr*)&mAddr, sizeof(mAddr));
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}
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public:
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inline LocIpcInetTcpSender(const char* name, int32_t port) :
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LocIpcInetSender(name, port, SOCK_STREAM),
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mFirstTime(true) {}
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};
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class LocIpcInetRecver : public LocIpcInetSender, public LocIpcRecver {
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protected:
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virtual ssize_t recv() const = 0;
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public:
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inline LocIpcInetRecver(const shared_ptr<ILocIpcListener>& listener, const char* name,
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int32_t port, int sockType) :
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LocIpcInetSender(name, port, sockType), LocIpcRecver(listener, *this) {
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if (mSock->isValid() && ::bind(mSock->mSid, (struct sockaddr*)&mAddr, sizeof(mAddr)) < 0) {
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LOC_LOGe("bind socket error. sock fd: %d, reason: %s", mSock->mSid, strerror(errno));
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mSock->close();
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}
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}
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inline virtual ~LocIpcInetRecver() {}
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inline virtual const char* getName() const override { return mName.data(); };
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inline virtual void abort() const override {
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if (isSendable()) {
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mSock->sendAbort(0, (struct sockaddr*)&mAddr, sizeof(mAddr));
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}
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}
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};
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class LocIpcInetTcpRecver : public LocIpcInetRecver {
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mutable int32_t mConnFd;
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protected:
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inline virtual ssize_t recv() const override {
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@ -223,21 +260,26 @@ protected:
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public:
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inline LocIpcInetTcpRecver(const shared_ptr<ILocIpcListener>& listener, const char* name,
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int32_t port) :
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LocIpcInetTcpSender(name, port), LocIpcRecver(listener, *this), mConnFd(-1) {
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if (mSock->isValid() && ::bind(mSock->mSid, (struct sockaddr*)&mAddr, sizeof(mAddr)) < 0) {
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LOC_LOGe("bind socket error. sock fd: %d, reason: %s", mSock->mSid, strerror(errno));
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mSock->close();
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}
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}
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LocIpcInetRecver(listener, name, port, SOCK_STREAM), mConnFd(-1) {}
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inline virtual ~LocIpcInetTcpRecver() { if (-1 != mConnFd) ::close(mConnFd);}
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inline virtual const char* getName() const override { return mName.data(); };
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inline virtual void abort() const override {
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if (isSendable()) {
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mSock->sendAbort(0, (struct sockaddr*)&mAddr, sizeof(mAddr));
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}
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}
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};
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class LocIpcInetUdpRecver : public LocIpcInetRecver {
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protected:
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inline virtual ssize_t recv() const override {
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socklen_t size = sizeof(mAddr);
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return mSock->recv(mDataCb, 0, (struct sockaddr*)&mAddr, &size);
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}
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public:
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inline LocIpcInetUdpRecver(const shared_ptr<ILocIpcListener>& listener, const char* name,
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int32_t port) :
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LocIpcInetRecver(listener, name, port, SOCK_DGRAM) {}
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inline virtual ~LocIpcInetUdpRecver() {}
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};
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#ifdef NOT_DEFINED
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class LocIpcQcsiSender : public LocIpcSender {
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||||
protected:
|
||||
|
|
@ -368,6 +410,13 @@ unique_ptr<LocIpcRecver> LocIpc::getLocIpcInetTcpRecver(const shared_ptr<ILocIpc
|
|||
const char* serverName, int32_t port) {
|
||||
return make_unique<LocIpcInetTcpRecver>(listener, serverName, port);
|
||||
}
|
||||
shared_ptr<LocIpcSender> LocIpc::getLocIpcInetUdpSender(const char* serverName, int32_t port) {
|
||||
return make_shared<LocIpcInetSender>(serverName, port, SOCK_DGRAM);
|
||||
}
|
||||
unique_ptr<LocIpcRecver> LocIpc::getLocIpcInetUdpRecver(const shared_ptr<ILocIpcListener>& listener,
|
||||
const char* serverName, int32_t port) {
|
||||
return make_unique<LocIpcInetUdpRecver>(listener, serverName, port);
|
||||
}
|
||||
pair<shared_ptr<LocIpcSender>, unique_ptr<LocIpcRecver>>
|
||||
LocIpc::getLocIpcQmiLocServiceSenderRecverPair(const shared_ptr<ILocIpcListener>& listener, int instance) {
|
||||
typedef pair<shared_ptr<LocIpcSender>, unique_ptr<LocIpcRecver>> (*creator_t)(const shared_ptr<ILocIpcListener>&, int);
|
||||
|
|
|
|||
|
|
@ -66,6 +66,8 @@ public:
|
|||
|
||||
static shared_ptr<LocIpcSender>
|
||||
getLocIpcLocalSender(const char* localSockName);
|
||||
static shared_ptr<LocIpcSender>
|
||||
getLocIpcInetUdpSender(const char* serverName, int32_t port);
|
||||
static shared_ptr<LocIpcSender>
|
||||
getLocIpcInetTcpSender(const char* serverName, int32_t port);
|
||||
static shared_ptr<LocIpcSender>
|
||||
|
|
@ -74,6 +76,9 @@ public:
|
|||
static unique_ptr<LocIpcRecver>
|
||||
getLocIpcLocalRecver(const shared_ptr<ILocIpcListener>& listener,
|
||||
const char* localSockName);
|
||||
static unique_ptr<LocIpcRecver>
|
||||
getLocIpcInetUdpRecver(const shared_ptr<ILocIpcListener>& listener,
|
||||
const char* serverName, int32_t port);
|
||||
static unique_ptr<LocIpcRecver>
|
||||
getLocIpcInetTcpRecver(const shared_ptr<ILocIpcListener>& 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);
|
||||
|
|
|
|||
|
|
@ -35,7 +35,12 @@
|
|||
#include <string.h>
|
||||
#include <loc_gps.h>
|
||||
#include <LocationAPI.h>
|
||||
#include <time.h>
|
||||
|
||||
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;
|
||||
|
|
@ -376,6 +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 */
|
||||
|
|
@ -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;
|
||||
|
|
|
|||
|
|
@ -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__);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -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 */
|
||||
|
|
|
|||
|
|
@ -36,6 +36,7 @@
|
|||
#include <loc_cfg.h>
|
||||
|
||||
#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,
|
||||
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 +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);
|
||||
|
|
|
|||
Loading…
Reference in a new issue