开了一个交流群，欢迎爱好者和开发者一起交流，转载请注明出处。
QQ群：519230208，为避免广告骚扰，申请时请注明 “开发者” 字样
＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝
参考资料：
GPS数据包分析：http://www.cnblogs.com/csMapx/archive/2011/11/02/2232663.html
手机定位原理，关于GPS&GLONASS&北斗：http://www.cnblogs.com/radiolover/p/4307453.html
GSP 数据解析（搜索 NMEA parser）
C Project : http://nmea.sourceforge.net/#downloads
C++ Project : http://www.visualgps.net/WhitePapers/NMEAParser/NMEAParser.htm
单片机（郭天详）：http://download.csdn.net/detail/suzhouzhouchunhua/2370503
Makefile中添加以下内容：
CC=arm-poky-linux-gnueabi-gcc --sysroot=/home/summer/test-yocto/qemuarm
LD=arm-poky-linux-gnueabi-ld --sysroot=/home/summer/test-yocto/qemuarm
CFLAGS=-O2 -pipe -g -feliminate-unused-debug-types
CXXFLAGS=-O2 -pipe -g -feliminate-unused-debug-types
ERROR记录与解决方法
error：
lib/libnmea.a(generate.o)：在函数‘nmea_gsv_npack’中：
generate.c:(.text+0x7f0)：对‘ceil’未定义的引用
collect2: error: ld returned exit status
make: *** [samples_generate] 错误
rm samples/generate/main.o Makefile中添加红色，ubuntu编译器不能识别加在前边。。。晕，macos完全不用修改
samples_%: samples/%/main.o
$(CC) $< $(LIBS) -o build/$@ -lm
Error case :
, Lat: -nan, Lon: nan, Sig: , Fix:
$GPRMC,213922.000,A,4221.1129,N,07102.9146,W,0.00,,,,,A*6F
Trace:
$GPGGA,213923.000,4221.1129,N,07102.9146,W,,,3.9,129.7,M,-33.7,M,,*6F
Trace:
, Lat: -nan, Lon: nan, Sig: , Fix:
$GPGSA,A,,,,,,,,,,,,,,4.1,3.9,1.0*3A
Trace:
, Lat: -nan, Lon: nan, Sig: , Fix:
$GPRMC,213923.000,A,4221.1129,N,07102.9146,W,0.00,,,,,A*6E
Trace:
$GPGGA,213924.000,4221.1129,N,07102.9146,W,,,3.9,129.7,M,-33.7,M,,*
Trace:
, Lat: -nan, Lon: nan, Sig: , Fix:
$GPGSA,A,,,,,,,,,,,,,,4.0,3.9,1.0*3B
Trace:
, Lat: -nan, Lon: nan, Sig: , Fix:
$GPRMC,213924.000,A,4221.1129,N,07102.9146,W,0.00,,,,,A*
Trace:
$GPGGA,213925.000,4221.1129,N,07102.9146,W,,,3.9,129.7,M,-33.7,M,,*
Trace:
, Lat: -nan, Lon: nan, Sig: , Fix:
$GPGSA,A,,,,,,,,,,,,,,4.0,3.9,1.0*3B
Trace:
$GPRMC,213925.000,A,4221.1129,N,07102.9146,W,0.00,,,,,A*
Trace:
, Lat: -nan, Lon: nan, Sig: , Fix:
$GPGGA,213926.000,4221.1112,N,07102.9177,W,,,3.9,136.5,M,-33.7,M,,*6C
Trace:
, Lat: -nan, Lon: nan, Sig: , Fix:
---------------------------------------------------------------------------------
---------------------------------------------------------------------------------
Right case:
$GPGSV,,,,,,,,,,,,,,,,,,,*7F
Trace:
$GPGSV,,,,,,,,,,,,,,,*
Trace:
, Lat: 0.739180, Lon: -1.240032, Sig: , Fix:
$GPRMC,213921.000,A,4221.1129,N,07102.9146,W,0.00,,,,,A*6C
Trace:
, Lat: 0.739180, Lon: -1.240032, Sig: , Fix:
$GPGGA,213922.000,4221.1129,N,07102.9146,W,,,3.9,129.7,M,-33.7,M,,*6E
Trace:
$GPGSA,A,,,,,,,,,,,,,,4.1,3.9,1.0*3A
Trace:
, Lat: 0.739180, Lon: -1.240032, Sig: , Fix:
$GPRMC,213922.000,A,4221.1129,N,07102.9146,W,0.00,,,,,A*6F
Trace:
$GPGGA,213923.000,4221.1129,N,07102.9146,W,,,3.9,129.7,M,-33.7,M,,*6F
Trace:
, Lat: 0.739180, Lon: -1.240032, Sig: , Fix:
$GPGSA,A,,,,,,,,,,,,,,4.1,3.9,1.0*3A
Trace:
, Lat: 0.739180, Lon: -1.240032, Sig: , Fix:
$GPRMC,213923.000,A,4221.1129,N,07102.9146,W,0.00,,,,,A*6E
Trace:
$GPGGA,213924.000,4221.1129,N,07102.9146,W,,,3.9,129.7,M,-33.7,M,,*
Trace:
, Lat: 0.739180, Lon: -1.240032, Sig: , Fix:
$GPGSA,A,,,,,,,,,,,,,,4.0,3.9,1.0*3B
Trace:
, Lat: 0.739180, Lon: -1.240032, Sig: , Fix:
$GPRMC,213924.000,A,4221.1129,N,07102.9146,W,0.00,,,,,A*
/*
* Copyright (C) 2010 The Android Open Source Project
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/ /* this implements a GPS hardware library for the Android emulator.
* the following code should be built as a shared library that will be
* placed into /system/lib/hw/gps.goldfish.so
*
* it will be loaded by the code in hardware/libhardware/hardware.c
* which is itself called from android_location_GpsLocationProvider.cpp
******************************************************************************
******************************************************************************
*
* Modified by liukun321 GJGJ
* http://blog.csdn.net/liukun321
*
******************************************************************************
******************************************************************************/ #include <errno.h>
#include <pthread.h>
#include <fcntl.h>
#include <sys/epoll.h>
#include <math.h>
#include <time.h> #include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <termios.h>
#include <errno.h> #define LOG_TAG "gps_Ublox6M"
#include <cutils/log.h>
#include <cutils/sockets.h>
#include <hardware/gps.h>
#include <hardware/qemud.h>
#include <hardware/hardware.h>
/* the name of the qemud-controlled socket */
#define QEMU_CHANNEL_NAME "gps" #define GPS_DEBUG 0
#define Ublox_6M 1
#if GPS_DEBUG
# define D(...) LOGD(__VA_ARGS__)
#else
# define D(...) ((void))
#endif /*****************************************************************/
/*****************************************************************/
/***** *****/
/***** N M E A T O K E N I Z E R *****/
/***** *****/
/*****************************************************************/
/*****************************************************************/ typedef struct {
const char* p;
const char* end;
} Token; #define MAX_NMEA_TOKENS 16 typedef struct {
int count;
Token tokens[ MAX_NMEA_TOKENS ];
} NmeaTokenizer; /*********************************************************************/
GpsStatus g_status; static int
nmea_tokenizer_init( NmeaTokenizer* t, const char* p, const char* end )
{
int count = ;
char* q; // the initial '$' is optional
if (p < end && p[] == '$')
p += ; // remove trailing newline
if (end > p && end[-] == '\n') {
end -= ;
if (end > p && end[-] == '\r')
end -= ;
} // get rid of checksum at the end of the sentecne
if (end >= p+ && end[-] == '*') {
end -= ;
} while (p < end) {
const char* q = p; q = memchr(p, ',', end-p);
if (q == NULL)
q = end; if (q >= p) {//////////////////////////////////////////////////////////////////////////////
if (count < MAX_NMEA_TOKENS) {
t->tokens[count].p = p;
t->tokens[count].end = q;
count += ;
}
}
if (q < end)
q += ; p = q;
} t->count = count;
return count;
} static Token
nmea_tokenizer_get( NmeaTokenizer* t, int index )
{
Token tok;
static const char* dummy = ""; if (index < || index >= t->count) {
tok.p = tok.end = dummy;
} else
tok = t->tokens[index]; return tok;
} static int
str2int( const char* p, const char* end )
{
int result = ;
int len = end - p; for ( ; len > ; len--, p++ )
{
int c; if (p >= end)
goto Fail; c = *p - '';
if ((unsigned)c >= )
goto Fail; result = result* + c;
}
return result; Fail:
return -;
} static double
str2float( const char* p, const char* end )
{
int result = ;
int len = end - p;
char temp[]; if (len >= (int)sizeof(temp))
return .; memcpy( temp, p, len );
temp[len] = ;
return strtod( temp, NULL );
} /*****************************************************************/
/*****************************************************************/
/***** *****/
/***** N M E A P A R S E R *****/
/***** *****/
/*****************************************************************/
/*****************************************************************/ #define NMEA_MAX_SIZE 83 typedef struct {
int pos;
int overflow;
int utc_year;
int utc_mon;
int utc_day;
int utc_diff;
GpsLocation fix;
//********************************
GpsSvStatus sv_status; int sv_status_changed;
#ifdef Ublox_6M
GpsCallbacks callback; #else
//*********************************
gps_location_callback callback;
#endif
char in[ NMEA_MAX_SIZE+ ];
} NmeaReader; static void
nmea_reader_update_utc_diff( NmeaReader* r )
{
time_t now = time(NULL);
struct tm tm_local;
struct tm tm_utc;
long time_local, time_utc; gmtime_r( &now, &tm_utc );
localtime_r( &now, &tm_local ); time_local = tm_local.tm_sec +
*(tm_local.tm_min +
*(tm_local.tm_hour +
*(tm_local.tm_yday +
*tm_local.tm_year))); time_utc = tm_utc.tm_sec +
*(tm_utc.tm_min +
*(tm_utc.tm_hour +
*(tm_utc.tm_yday +
*tm_utc.tm_year))); r->utc_diff = time_local - time_utc;
} static void
nmea_reader_init( NmeaReader* r )
{
memset( r, , sizeof(*r) ); r->pos = ;
r->overflow = ;
r->utc_year = -;
r->utc_mon = -;
r->utc_day = -;
#ifdef Ublox_6M
r->callback.sv_status_cb = NULL;//////////////////////////////////////////
r->callback.nmea_cb = NULL;
r->callback.location_cb = NULL;
r->callback.status_cb = NULL;
#else
r->callback = NULL;
#endif
r->fix.size = sizeof(r->fix);
nmea_reader_update_utc_diff( r );
} static void
nmea_reader_set_callback( NmeaReader* r, gps_location_callback cb )
{
#ifdef Ublox_6M
r->callback.location_cb = cb;//////////////////////////////////////////////////
#else
r->callback = cb;
#endif
if (cb != NULL && r->fix.flags != ) {
D("%s: sending latest fix to new callback", __FUNCTION__);
#ifdef Ublox_6M
r->callback.location_cb( &r->fix );/////////////////////////////////////////////
#else
r->fix.flags = ;
#endif
}
} static int
nmea_reader_update_time( NmeaReader* r, Token tok )
{
int hour, minute;
double seconds;
struct tm tm;
time_t fix_time; if (tok.p + > tok.end)
return -; if (r->utc_year < ) {
// no date yet, get current one
time_t now = time(NULL);
gmtime_r( &now, &tm );
r->utc_year = tm.tm_year + ;
r->utc_mon = tm.tm_mon + ;
r->utc_day = tm.tm_mday;
} hour = str2int(tok.p, tok.p+);
minute = str2int(tok.p+, tok.p+);
seconds = str2float(tok.p+, tok.end); tm.tm_hour = hour;
tm.tm_min = minute;
tm.tm_sec = (int) seconds;
tm.tm_year = r->utc_year - ;
tm.tm_mon = r->utc_mon - ;
tm.tm_mday = r->utc_day;
tm.tm_isdst = -; fix_time = mktime( &tm ) + r->utc_diff;
r->fix.timestamp = (long long)fix_time * ;
return ;
} static int
nmea_reader_update_date( NmeaReader* r, Token date, Token time )
{
Token tok = date;
int day, mon, year; if (tok.p + != tok.end) {
D("date not properly formatted: '%.*s'", tok.end-tok.p, tok.p);
return -;
}
day = str2int(tok.p, tok.p+);
mon = str2int(tok.p+, tok.p+);
year = str2int(tok.p+, tok.p+) + ; if ((day|mon|year) < ) {
D("date not properly formatted: '%.*s'", tok.end-tok.p, tok.p);
return -;
} r->utc_year = year;
r->utc_mon = mon;
r->utc_day = day; return nmea_reader_update_time( r, time );
} static double
convert_from_hhmm( Token tok )
{
double val = str2float(tok.p, tok.end);
int degrees = (int)(floor(val) / );
double minutes = val - degrees*.;
double dcoord = degrees + minutes / 60.0;
return dcoord;
} static int
nmea_reader_update_latlong( NmeaReader* r,
Token latitude,
char latitudeHemi,
Token longitude,
char longitudeHemi )
{
double lat, lon;
Token tok; tok = latitude;
if (tok.p + > tok.end) {
D("latitude is too short: '%.*s'", tok.end-tok.p, tok.p);
return -;
}
lat = convert_from_hhmm(tok);
if (latitudeHemi == 'S')
lat = -lat; tok = longitude;
if (tok.p + > tok.end) {
D("longitude is too short: '%.*s'", tok.end-tok.p, tok.p);
return -;
}
lon = convert_from_hhmm(tok);
if (longitudeHemi == 'W')
lon = -lon; r->fix.flags |= GPS_LOCATION_HAS_LAT_LONG;
r->fix.latitude = lat;
r->fix.longitude = lon;
return ;
} static int
nmea_reader_update_altitude( NmeaReader* r,
Token altitude,
Token units )
{
double alt;
Token tok = altitude; if (tok.p >= tok.end)
return -; r->fix.flags |= GPS_LOCATION_HAS_ALTITUDE;
r->fix.altitude = str2float(tok.p, tok.end);
return ;
} static int
nmea_reader_update_bearing( NmeaReader* r,
Token bearing )
{
double alt;
Token tok = bearing; if (tok.p >= tok.end)
return -; r->fix.flags |= GPS_LOCATION_HAS_BEARING;
r->fix.bearing = str2float(tok.p, tok.end);
return ;
} static int
nmea_reader_update_speed( NmeaReader* r,
Token speed )
{
double alt;
Token tok = speed; if (tok.p >= tok.end)
return -; r->fix.flags |= GPS_LOCATION_HAS_SPEED;
r->fix.speed = str2float(tok.p, tok.end);
return ;
}
static int nmea_reader_update_accuracy(NmeaReader * r, Token accuracy)
{
double acc;
Token tok = accuracy; if(tok.p >= tok.end)
return -; r->fix.accuracy = str2float(tok.p, tok.end); if(r->fix.accuracy == 99.99){
return ;
} r->fix.flags |= GPS_LOCATION_HAS_ACCURACY;
return ;
} /* this is the state of our connection to the qemu_gpsd daemon */
typedef struct {
int init;
int fd;
GpsCallbacks callbacks;
pthread_t thread;
int control[];
} GpsState; static GpsState _gps_state[]; static void
nmea_reader_parse( NmeaReader* r )
{
/* we received a complete sentence, now parse it to generate
* a new GPS fix...
*/
NmeaTokenizer tzer[];
Token tok; D("Received: '%.*s'", r->pos, r->in); if (r->pos < ) {
D("Too short. discarded.");
return;
} nmea_tokenizer_init(tzer, r->in, r->in + r->pos);
#if GPS_DEBUG
{
int n;
D("Found %d tokens", tzer->count);
for (n = ; n < tzer->count; n++) {
Token tok = nmea_tokenizer_get(tzer,n);
D("%2d: '%.*s'", n, tok.end-tok.p, tok.p);
}
}
#endif tok = nmea_tokenizer_get(tzer, );
if (tok.p + > tok.end) {
D("sentence id '%.*s' too short, ignored.", tok.end-tok.p, tok.p);
return;
} // ignore first two characters.
tok.p += ;
if ( !memcmp(tok.p, "GGA", ) ) {
// GPS fix
Token tok_time = nmea_tokenizer_get(tzer,);
Token tok_latitude = nmea_tokenizer_get(tzer,);
Token tok_latitudeHemi = nmea_tokenizer_get(tzer,);
Token tok_longitude = nmea_tokenizer_get(tzer,);
Token tok_longitudeHemi = nmea_tokenizer_get(tzer,);
Token tok_altitude = nmea_tokenizer_get(tzer,);
Token tok_altitudeUnits = nmea_tokenizer_get(tzer,); nmea_reader_update_time(r, tok_time);
nmea_reader_update_latlong(r, tok_latitude,
tok_latitudeHemi.p[],
tok_longitude,
tok_longitudeHemi.p[]);
nmea_reader_update_altitude(r, tok_altitude, tok_altitudeUnits); } else if ( !memcmp(tok.p, "GSA", ) ) {
// do something ? #ifdef Ublox_6M
{
D("may%s,%d,%s,gsa\n",__FILE__,__LINE__,__FUNCTION__);
Token tok_fixStatus = nmea_tokenizer_get(tzer, );
int i; if (tok_fixStatus.p[] != '\0' && tok_fixStatus.p[] != '') { Token tok_accuracy = nmea_tokenizer_get(tzer, );//position dilution of precision dop nmea_reader_update_accuracy(r, tok_accuracy); r->sv_status.used_in_fix_mask = 0ul;
D("\n");
for (i = ; i <= ; ++i){ Token tok_prn = nmea_tokenizer_get(tzer, i);
int prn = str2int(tok_prn.p, tok_prn.end);
D("gsa,prn=%d,",prn);
if (prn > ){
r->sv_status.used_in_fix_mask |= (1ul << ( prn-));
r->sv_status_changed = ; } }D("\n");
D("%s: fix mask is %x", __FUNCTION__, r->sv_status.used_in_fix_mask);
// D(" [log hit][%s:%d] fix.flags=0x%x ", __FUNCTION__, __LINE__, r->fix.flags);
} D(" [log hit][%s:%d] fix.flags=0x%x ", __FUNCTION__, __LINE__, r->fix.flags); }
#endif } //////////////////////////////////////////////////////////////////////////////////////////////////
#ifdef Ublox_6M
else if ( !memcmp(tok.p, "GSV", ) ) {
D("may%s,%d,%s,gsV\n",__FILE__,__LINE__,__FUNCTION__);
Token tok_noSatellites = nmea_tokenizer_get(tzer, );
int noSatellites = str2int(tok_noSatellites.p, tok_noSatellites.end);
D("%d,inview=%d,\n",__LINE__,noSatellites);
if (noSatellites > ) {
Token tok_noSentences = nmea_tokenizer_get(tzer, );
Token tok_sentence = nmea_tokenizer_get(tzer, ); int sentence = str2int(tok_sentence.p, tok_sentence.end);
int totalSentences = str2int(tok_noSentences.p, tok_noSentences.end);
D("%d,gsv_index=%d,gsv_total=%d\n",__LINE__,sentence,totalSentences);
int curr;
int i; if (sentence == ) {
D("msg_index=%d\n",sentence);
// r->sv_status_changed = 0;
r->sv_status.num_svs = ;
r->sv_status.ephemeris_mask=0ul;
r->sv_status.almanac_mask=0ul;
} curr = r->sv_status.num_svs; i = ; while (i < && r->sv_status.num_svs < noSatellites){
Token tok_prn = nmea_tokenizer_get(tzer, i * + );
Token tok_elevation = nmea_tokenizer_get(tzer, i * + );
Token tok_azimuth = nmea_tokenizer_get(tzer, i * + );
Token tok_snr = nmea_tokenizer_get(tzer, i * + ); r->sv_status.sv_list[curr].prn = str2int(tok_prn.p, tok_prn.end);
r->sv_status.sv_list[curr].elevation = str2float(tok_elevation.p, tok_elevation.end);
r->sv_status.sv_list[curr].azimuth = str2float(tok_azimuth.p, tok_azimuth.end);
r->sv_status.sv_list[curr].snr = str2float(tok_snr.p, tok_snr.end);
r->sv_status.ephemeris_mask|=(1ul << (r->sv_status.sv_list[curr].prn-));
r->sv_status.almanac_mask|=(1ul << (r->sv_status.sv_list[curr].prn-));
r->sv_status.num_svs += ;
D("**********curr=%d\n",curr); D("%d,prn=%d:snr=%f\n",__LINE__,r->sv_status.sv_list[curr].prn,r->sv_status.sv_list[curr].snr);
curr += ; i += ;
} if (sentence == totalSentences) {
D("msg=%d,msgindex=%d",totalSentences,sentence);
#ifdef Ublox_6M
r->callback.sv_status_cb=_gps_state->callbacks.sv_status_cb; if (r->sv_status_changed !=) {
if (r->callback.sv_status_cb) { #if GPS_DEBUG
D("%d,SV_STATSU,change=%d\n",__LINE__,r->sv_status_changed);
int nums=r->sv_status.num_svs;
D("num_svs=%d,emask=%x,amask=%x,inusemask=%x\n",r->sv_status.num_svs,r->sv_status.ephemeris_mask,r->sv_status.almanac_mask,r->sv_status.used_in_fix_mask);
D("************88\n");
while(nums)
{
nums--;
D("prn=%d:snr=%f\n",r->sv_status.sv_list[nums].prn,r->sv_status.sv_list[nums].snr); }D("************88\n");
#endif
r->callback.sv_status_cb( &(r->sv_status) );
r->sv_status_changed = ;
}else {
D("no callback, keeping status data until needed !");
} }
#endif
} D("%s: GSV message with total satellites %d", __FUNCTION__, noSatellites); } }
#endif//////////////////////////////////////////////////////////////////////////////////////////// else if ( !memcmp(tok.p, "GLL", ) ) {
Token tok_fixstaus = nmea_tokenizer_get(tzer,);
if (tok_fixstaus.p[] == 'A') {
Token tok_latitude = nmea_tokenizer_get(tzer,);
Token tok_latitudeHemi = nmea_tokenizer_get(tzer,);
Token tok_longitude = nmea_tokenizer_get(tzer,);
Token tok_longitudeHemi = nmea_tokenizer_get(tzer,);
Token tok_time = nmea_tokenizer_get(tzer,);
nmea_reader_update_time(r, tok_time);
nmea_reader_update_latlong(r, tok_latitude, tok_latitudeHemi.p[], tok_longitude, tok_longitudeHemi.p[]);
}
} /////////////////////////////////////////////////////////////////////////////////
else if ( !memcmp(tok.p, "RMC", ) ) {
#ifndef Ublox_6M
Token tok_time = nmea_tokenizer_get(tzer,);
Token tok_fixStatus = nmea_tokenizer_get(tzer,);
Token tok_latitude = nmea_tokenizer_get(tzer,);
Token tok_latitudeHemi = nmea_tokenizer_get(tzer,);
Token tok_longitude = nmea_tokenizer_get(tzer,);
Token tok_longitudeHemi = nmea_tokenizer_get(tzer,);
Token tok_speed = nmea_tokenizer_get(tzer,);
Token tok_bearing = nmea_tokenizer_get(tzer,);
Token tok_date = nmea_tokenizer_get(tzer,); D("in RMC, fixStatus=%c", tok_fixStatus.p[]);
if (tok_fixStatus.p[] == 'A')
{
nmea_reader_update_date( r, tok_date, tok_time ); nmea_reader_update_latlong( r, tok_latitude,
tok_latitudeHemi.p[],
tok_longitude,
tok_longitudeHemi.p[] ); nmea_reader_update_bearing( r, tok_bearing );
nmea_reader_update_speed ( r, tok_speed );
}
#else
Token tok_time = nmea_tokenizer_get(tzer,);
Token tok_fixStatus = nmea_tokenizer_get(tzer,);
Token tok_latitude = nmea_tokenizer_get(tzer,);
Token tok_latitudeHemi = nmea_tokenizer_get(tzer,);
Token tok_longitude = nmea_tokenizer_get(tzer,);
Token tok_longitudeHemi = nmea_tokenizer_get(tzer,);
Token tok_speed = nmea_tokenizer_get(tzer,);
Token tok_bearing = nmea_tokenizer_get(tzer,);
Token tok_date = nmea_tokenizer_get(tzer,); D("in RMC, fixStatus=%c", tok_fixStatus.p[]);
if (tok_fixStatus.p[] == 'A')
{
nmea_reader_update_date( r, tok_date, tok_time ); nmea_reader_update_latlong( r, tok_latitude,
tok_latitudeHemi.p[],
tok_longitude,
tok_longitudeHemi.p[] ); nmea_reader_update_bearing( r, tok_bearing );
nmea_reader_update_speed ( r, tok_speed );
#ifdef Ublox_6M
r->callback.location_cb=_gps_state->callbacks.location_cb;
r->callback.nmea_cb=_gps_state->callbacks.nmea_cb;
r->callback.status_cb=_gps_state->callbacks.status_cb;
if (r->callback.status_cb) {
D("report,status,flags=%d\n",r->fix.flags);
r->callback.status_cb( (struct GpsStatus *)&(r->fix.flags) );
}
if (r->callback.location_cb) {
D("location_cb report:r->fix.flags=%d,r->latitude=%f,r->longitude=%f,r->altitude=%f,r->speed=%f,r->bearing=%f,r->accuracy=%f\n",r->fix.flags,r->fix.latitude,r->fix.longitude,r->fix.altitude,r->fix.speed,r->fix.bearing,r->fix.accuracy);
r->callback.location_cb( &r->fix );
D("%d,cc=%d",__LINE__,cc);
r->fix.flags = ; }
if (r->callback.nmea_cb) {
D("report,timestamp=%llx,%llu\n",r->fix.timestamp,r->fix.timestamp);
r->callback.nmea_cb( r->fix.timestamp,r->in,r->pos ); } #else
r->callback=_gps_state.callbacks->location_cb;
//r->callback.nmea_cb=_gps_state->callbacks.nmea_cb;
if (r->callback) {D("if2 (r->callback.location_cb)\n");
r->callback( &r->fix );
r->fix.flags = ;
}
#endif
}
#endif
} else
{
tok.p -= ;
D("unknown sentence '%.*s", tok.end-tok.p, tok.p);
}
if (r->fix.flags != ) {
#if GPS_DEBUG
char temp[];
char* p = temp;
char* end = p + sizeof(temp);
struct tm utc; p += snprintf( p, end-p, "sending fix" );
if (r->fix.flags & GPS_LOCATION_HAS_LAT_LONG) {
p += snprintf(p, end-p, " lat=%g lon=%g", r->fix.latitude, r->fix.longitude);
}
if (r->fix.flags & GPS_LOCATION_HAS_ALTITUDE) {
p += snprintf(p, end-p, " altitude=%g", r->fix.altitude);
}
if (r->fix.flags & GPS_LOCATION_HAS_SPEED) {
p += snprintf(p, end-p, " speed=%g", r->fix.speed);
}
if (r->fix.flags & GPS_LOCATION_HAS_BEARING) {
p += snprintf(p, end-p, " bearing=%g", r->fix.bearing);
}
if (r->fix.flags & GPS_LOCATION_HAS_ACCURACY) {
p += snprintf(p,end-p, " accuracy=%g", r->fix.accuracy);
}
gmtime_r( (time_t*) &r->fix.timestamp, &utc );
p += snprintf(p, end-p, " time=%s", asctime( &utc ) );
LOGD("%s",temp);
#endif #ifndef Ublox_6M
if (r->callback ) {
r->callback( &r->fix );
r->fix.flags = ;
}
else {
D("no callback, keeping data until needed !");
}
#endif
}
} static void
nmea_reader_addc( NmeaReader* r, int c )
{
if (r->overflow) {
r->overflow = (c != '\n');
return;
} if (r->pos >= (int) sizeof(r->in)- ) {
r->overflow = ;
r->pos = ;
return;
} r->in[r->pos] = (char)c;
r->pos += ; if (c == '\n') {
nmea_reader_parse( r );
r->pos = ;
}
} /*****************************************************************/
/*****************************************************************/
/***** *****/
/***** C O N N E C T I O N S T A T E *****/
/***** *****/
/*****************************************************************/
/*****************************************************************/ /* commands sent to the gps thread */
enum {
CMD_QUIT = ,
CMD_START = ,
CMD_STOP =
}; static void
gps_state_done( GpsState* s )
{
// tell the thread to quit, and wait for it
char cmd = CMD_QUIT;
void* dummy;
write( s->control[], &cmd, );
pthread_join(s->thread, &dummy); // close the control socket pair
close( s->control[] ); s->control[] = -;
close( s->control[] ); s->control[] = -; // close connection to the QEMU GPS daemon
close( s->fd ); s->fd = -;
s->init = ;
} static void
gps_state_start( GpsState* s )
{
char cmd = CMD_START;
int ret; do { ret=write( s->control[], &cmd, ); }
while (ret < && errno == EINTR); if (ret != )
D("%s: could not send CMD_START command: ret=%d: %s",
__FUNCTION__, ret, strerror(errno));
} static void
gps_state_stop( GpsState* s )
{
char cmd = CMD_STOP;
int ret; do { ret=write( s->control[], &cmd, ); }
while (ret < && errno == EINTR); if (ret != )
D("%s: could not send CMD_STOP command: ret=%d: %s",
__FUNCTION__, ret, strerror(errno));
} static int
epoll_register( int epoll_fd, int fd )
{
struct epoll_event ev;
int ret, flags; /* important: make the fd non-blocking */
flags = fcntl(fd, F_GETFL);
fcntl(fd, F_SETFL, flags | O_NONBLOCK); ev.events = EPOLLIN;
ev.data.fd = fd;
do {
ret = epoll_ctl( epoll_fd, EPOLL_CTL_ADD, fd, &ev );
} while (ret < && errno == EINTR);
return ret;
} static int
epoll_deregister( int epoll_fd, int fd )
{
int ret;
do {
ret = epoll_ctl( epoll_fd, EPOLL_CTL_DEL, fd, NULL );
} while (ret < && errno == EINTR);
return ret;
} /* this is the main thread, it waits for commands from gps_state_start/stop and,
* when started, messages from the QEMU GPS daemon. these are simple NMEA sentences
* that must be parsed to be converted into GPS fixes sent to the framework
*/
static void*
gps_state_thread( void* arg )
{
GpsState* state = (GpsState*) arg;
NmeaReader reader[];
int epoll_fd = epoll_create();
int started = ;
int gps_fd = state->fd;
int control_fd = state->control[]; nmea_reader_init( reader ); // register control file descriptors for polling
epoll_register( epoll_fd, control_fd );
epoll_register( epoll_fd, gps_fd ); D("gps thread running"); // now loop
for (;;) {
struct epoll_event events[];
int ne, nevents; nevents = epoll_wait( epoll_fd, events, , - );
if (nevents < ) {
if (errno != EINTR)
LOGE("epoll_wait() unexpected error: %s", strerror(errno));
continue;
}
D("gps thread received %d events", nevents);
for (ne = ; ne < nevents; ne++) {
if ((events[ne].events & (EPOLLERR|EPOLLHUP)) != ) {
LOGE("EPOLLERR or EPOLLHUP after epoll_wait() !?");
goto Exit;
}
if ((events[ne].events & EPOLLIN) != ) {
int fd = events[ne].data.fd; if (fd == control_fd)
{
char cmd = ;
int ret;
D("gps control fd event");
do {
ret = read( fd, &cmd, );
} while (ret < && errno == EINTR); if (cmd == CMD_QUIT) {
D("gps thread quitting on demand");
goto Exit;
}
else if (cmd == CMD_START) {
if (!started) {
D("gps thread starting location_cb=%p", state->callbacks.location_cb);
started = ;
//******************************************************************
g_status.status=GPS_STATUS_SESSION_BEGIN;//\BF\AAʼ\B5\BC\BA\BD
state->callbacks.status_cb(&g_status);
//******************************************************************
nmea_reader_set_callback( reader, state->callbacks.location_cb );
LOGE("%d",gps_fd);
}
}
else if (cmd == CMD_STOP) {
if (started) {
D("gps thread stopping");
started = ;
//********************************************************************
g_status.status=GPS_STATUS_SESSION_END; //ֹͣ
state->callbacks.status_cb(&g_status);
//********************************************************************
nmea_reader_set_callback( reader, NULL );
}
}
}
else if (fd == gps_fd)
{
char buff[];
D("gps fd event");
for (;;) {
int nn, ret; ret = read( fd, buff, sizeof(buff) );
if (ret < ) {
if (errno == EINTR)
continue;
if (errno != EWOULDBLOCK)
LOGE("error while reading from gps daemon socket: %s:", strerror(errno));
break;
}
D("received %d bytes: %.*s", ret, ret, buff);
for (nn = ; nn < ret; nn++)
nmea_reader_addc( reader, buff[nn] );
}
D("gps fd event end");
}
else
{
LOGE("epoll_wait() returned unkown fd %d ?", fd);
}
}
}
}
Exit:
return NULL;
} static void
gps_state_init( GpsState* state )
{
state->init = ;
state->control[] = -;
state->control[] = -;
state->fd = -;
int ret = -;
struct termios gps_termios; //*****************************************************************************
state->fd= open("/dev/s3c2410_serial1",O_RDWR|O_NOCTTY|O_NDELAY);//\D5\E2\C0\EF\D3õ\C4\CA\C7UART1 if( state->fd < ){ LOGE("open port /dev/s3c2410_serial1 ERROR..state->fd=%d\n",state->fd); exit(); }else LOGE("open port:/dev/s3c2410_serial1 succceed..state->fd=%d\n",state->fd); if(fcntl( state->fd,F_SETFL,)<) LOGE("fcntl F_SETFL\n"); { LOGI(">>>> Port setup..\n"); int err; tcflush(state->fd, TCIOFLUSH);//\D2\D4\CF\C2\CA\C7\C5\E4\D6ô\AE\BFڵIJ\CE\CA\FD if ((err = tcgetattr(state->fd,&gps_termios)) != ) { LOGI("tcgetattr(%d) = %d,errno %d\r\n",state->fd,err,errno); close(state->fd); } gps_termios.c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL|IXON); gps_termios.c_oflag &= ~OPOST; gps_termios.c_lflag &= ~(ECHO|ECHONL|ICANON|ISIG|IEXTEN); gps_termios.c_cflag &= ~(CSIZE|PARENB); gps_termios.c_cflag |= CS8; gps_termios.c_cflag &= ~CRTSCTS;//no flow control tcsetattr(state->fd, TCSANOW, &gps_termios); tcflush(state->fd, TCIOFLUSH); tcsetattr(state->fd, TCSANOW, &gps_termios); tcflush(state->fd, TCIOFLUSH); tcflush(state->fd, TCIOFLUSH); if (cfsetispeed(&gps_termios,B9600))//\BE\DF\CC\E5\B5IJο\BCGPS\CEĵ\B5 { LOGE("cfsetispeed.. errno..\r\n"); close(state->fd); //return(-1); } // Set the output baud rates in the termios. if (cfsetospeed(&gps_termios,B9600)) { LOGE("cfsetispeed.. errno..\r\n"); close(state->fd); //return(-1); } tcsetattr(state->fd,TCSANOW,&gps_termios); LOGE("Port setup finished..\n"); } if (state->fd < ) { LOGD("no gps emulation detected"); return; } //********************************************************************** if ( socketpair( AF_LOCAL, SOCK_STREAM, , state->control ) < ) {
LOGE("could not create thread control socket pair: %s", strerror(errno));
goto Fail;
} /* if ( pthread_create( &state->thread, NULL, gps_state_thread, state ) != 0 ) {
LOGE("could not create gps thread: %s", strerror(errno));
goto Fail;
}*/
//***********************************************************************
LOGE("gps state initialized before");
state->thread=state->callbacks.create_thread_cb("gps_state_thread",gps_state_thread,state);
//**************************************************************************
// D("gps state initialized");
LOGE("gps state initialized");
return; Fail:
gps_state_done( state );
} /*****************************************************************/
/*****************************************************************/
/***** *****/
/***** I N T E R F A C E *****/
/***** *****/
/*****************************************************************/
/*****************************************************************/ static int
qemu_gps_init(GpsCallbacks* callbacks)
{
GpsState* s = _gps_state; /**************************************************/
s->callbacks = *callbacks; //ע\B2\E1\BBص\F7\BA\AF\CA\FD,JNI\B4\AB\CF\C2\C0\B4\B5Ļص\F7\BA\AF\CA\FD g_status.status=GPS_STATUS_ENGINE_ON;//\C9\E8\D6\C3״̬ ͨ\B5絫\BB\B9û\BF\AAʼ\B5\BC\BA\BD s->callbacks.status_cb(&g_status);
/******************************************************/ if (!s->init)
gps_state_init(s); if (s->fd < )
return -; // s->callbacks = *callbacks; return ;
} static void
qemu_gps_cleanup(void)
{
GpsState* s = _gps_state; if (s->init)
gps_state_done(s);
} static int
qemu_gps_start()
{
GpsState* s = _gps_state; if (!s->init) {
D("%s: called with uninitialized state !!", __FUNCTION__);
return -;
} D("%s: called", __FUNCTION__);
gps_state_start(s);
return ;
} static int
qemu_gps_stop()
{
GpsState* s = _gps_state; if (!s->init) {
D("%s: called with uninitialized state !!", __FUNCTION__);
return -;
} D("%s: called", __FUNCTION__);
gps_state_stop(s);
return ;
} static int
qemu_gps_inject_time(GpsUtcTime time, int64_t timeReference, int uncertainty)
{
return ;
} static int
qemu_gps_inject_location(double latitude, double longitude, float accuracy)
{
return ;
} static void
qemu_gps_delete_aiding_data(GpsAidingData flags)
{
} static int qemu_gps_set_position_mode(GpsPositionMode mode, GpsPositionRecurrence recurrence,uint32_t min_interval, uint32_t preferred_accuracy, uint32_t preferred_time)//(GpsPositionMode mode, int fix_frequency)
{
// FIXME - support fix_frequency
return ;
} static const void*
qemu_gps_get_extension(const char* name)
{
// no extensions supported
return NULL;
} static const GpsInterface qemuGpsInterface = {
sizeof(GpsInterface),
qemu_gps_init,
qemu_gps_start,
qemu_gps_stop,
qemu_gps_cleanup,
qemu_gps_inject_time,
qemu_gps_inject_location,
qemu_gps_delete_aiding_data,
qemu_gps_set_position_mode,
qemu_gps_get_extension,
}; const GpsInterface* gps__get_gps_interface(struct gps_device_t* dev)
{
return &qemuGpsInterface;
} static int open_gps(const struct hw_module_t* module, char const* name,
struct hw_device_t** device)
{
struct gps_device_t *dev = malloc(sizeof(struct gps_device_t));
memset(dev, , sizeof(*dev)); dev->common.tag = HARDWARE_DEVICE_TAG;
dev->common.version = ;
dev->common.module = (struct hw_module_t*)module;
// dev->common.close = (int (*)(struct hw_device_t*))close_lights;
dev->get_gps_interface = gps__get_gps_interface; *device = (struct hw_device_t*)dev;
return ;
} static struct hw_module_methods_t gps_module_methods = {
.open = open_gps
}; const struct hw_module_t HAL_MODULE_INFO_SYM = {
.tag = HARDWARE_MODULE_TAG,
.version_major = ,
.version_minor = ,
.id = GPS_HARDWARE_MODULE_ID,
.name = "Goldfish GPS Module",
.author = "The Android Open Source Project",
.methods = &gps_module_methods,
};