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sanders: gps: update to LA.UM.7.6.r1-02000-89xx.0 tag

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This commit is contained in:
therootlord
2018-09-12 13:45:48 -03:00
parent 8a6b5c05e7
commit 0a41b9dc1a
150 changed files with 4794 additions and 4130 deletions
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108
gps/utils/loc_nmea.cpp
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@@ -31,7 +31,8 @@
#define LOG_TAG "LocSvc_nmea"
#include <loc_nmea.h>
#include <math.h>
#include <platform_lib_includes.h>
#include <log_util.h>
#include <loc_pla.h>
#define GLONASS_SV_ID_OFFSET 64
#define MAX_SATELLITES_IN_USE 12
@@ -51,6 +52,7 @@ typedef struct loc_nmea_sv_meta_s
uint32_t mask;
uint32_t svCount;
uint32_t svIdOffset;
uint32_t signalId;
uint32_t systemId;
} loc_nmea_sv_meta;
@@ -71,8 +73,6 @@ typedef struct loc_sv_cache_info_s
float vdop;
} loc_sv_cache_info;
static loc_sv_cache_info sv_cache_info;
/*===========================================================================
FUNCTION loc_nmea_sv_meta_init
@@ -90,6 +90,7 @@ SIDE EFFECTS
===========================================================================*/
static loc_nmea_sv_meta* loc_nmea_sv_meta_init(loc_nmea_sv_meta& sv_meta,
loc_sv_cache_info& sv_cache_info,
GnssSvType svType,
bool needCombine)
{
@@ -103,6 +104,7 @@ static loc_nmea_sv_meta* loc_nmea_sv_meta_init(loc_nmea_sv_meta& sv_meta,
sv_meta.talker[1] = 'P';
sv_meta.mask = sv_cache_info.gps_used_mask;
sv_meta.svCount = sv_cache_info.gps_count;
sv_meta.signalId = 1;
sv_meta.systemId = SYSTEM_ID_GPS;
break;
case GNSS_SV_TYPE_GLONASS:
@@ -112,6 +114,7 @@ static loc_nmea_sv_meta* loc_nmea_sv_meta_init(loc_nmea_sv_meta& sv_meta,
sv_meta.svCount = sv_cache_info.glo_count;
// GLONASS SV ids are from 65-96
sv_meta.svIdOffset = GLONASS_SV_ID_OFFSET;
sv_meta.signalId = 1;
sv_meta.systemId = SYSTEM_ID_GLONASS;
break;
case GNSS_SV_TYPE_GALILEO:
@@ -119,6 +122,7 @@ static loc_nmea_sv_meta* loc_nmea_sv_meta_init(loc_nmea_sv_meta& sv_meta,
sv_meta.talker[1] = 'A';
sv_meta.mask = sv_cache_info.gal_used_mask;
sv_meta.svCount = sv_cache_info.gal_count;
sv_meta.signalId = 7;
sv_meta.systemId = SYSTEM_ID_GALILEO;
break;
case GNSS_SV_TYPE_QZSS:
@@ -127,6 +131,7 @@ static loc_nmea_sv_meta* loc_nmea_sv_meta_init(loc_nmea_sv_meta& sv_meta,
sv_meta.mask = sv_cache_info.qzss_used_mask;
sv_meta.svCount = sv_cache_info.qzss_count;
// QZSS SV ids are from 193-197. So keep svIdOffset 0
sv_meta.signalId = 0;
sv_meta.systemId = SYSTEM_ID_QZSS;
break;
case GNSS_SV_TYPE_BEIDOU:
@@ -135,6 +140,7 @@ static loc_nmea_sv_meta* loc_nmea_sv_meta_init(loc_nmea_sv_meta& sv_meta,
sv_meta.mask = sv_cache_info.bds_used_mask;
sv_meta.svCount = sv_cache_info.bds_count;
// BDS SV ids are from 201-235. So keep svIdOffset 0
sv_meta.signalId = 0;
sv_meta.systemId = SYSTEM_ID_BEIDOU;
break;
default:
@@ -260,13 +266,14 @@ static uint32_t loc_nmea_generate_GSA(const GpsLocationExtended &locationExtende
fixType = '3'; // 3D fix
// Start printing the sentence
// Format: $--GSA,a,x,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,p.p,h.h,v.v*cc
// Format: $--GSA,a,x,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,p.p,h.h,v.v,s*cc
// a : Mode : A : Automatic, allowed to automatically switch 2D/3D
// x : Fixtype : 1 (no fix), 2 (2D fix), 3 (3D fix)
// xx : 12 SV ID
// p.p : Position DOP (Dilution of Precision)
// h.h : Horizontal DOP
// v.v : Vertical DOP
// s : GNSS System Id
// cc : Checksum value
length = snprintf(pMarker, lengthRemaining, "$%sGSA,A,%c,", talker, fixType);
@@ -329,7 +336,7 @@ DESCRIPTION
Generate NMEA GSV sentences generated based on sv report
Currently below sentences are generated:
- $GPGSV: GPS Satellites in View
- $GNGSV: GLONASS Satellites in View
- $GLGSV: GLONASS Satellites in View
- $GAGSV: GALILEO Satellites in View
DEPENDENCIES
@@ -368,7 +375,7 @@ static void loc_nmea_generate_GSV(const GnssSvNotification &svNotify,
if (svCount <= 0)
{
// no svs in view, so just send a blank $--GSV sentence
snprintf(sentence, lengthRemaining, "$%sGSV,1,1,0,", talker);
snprintf(sentence, lengthRemaining, "$%sGSV,1,1,0,%d", talker, sv_meta_p->signalId);
length = loc_nmea_put_checksum(sentence, bufSize);
nmeaArraystr.push_back(sentence);
return;
@@ -430,15 +437,10 @@ static void loc_nmea_generate_GSV(const GnssSvNotification &svNotify,
}
// The following entries are specific to QZSS and BDS
if ((sv_meta_p->svType == GNSS_SV_TYPE_QZSS) ||
(sv_meta_p->svType == GNSS_SV_TYPE_BEIDOU))
{
// last one is System id and second last is Signal Id which is always zero
length = snprintf(pMarker, lengthRemaining,",%d,%d",0,sv_meta_p->systemId);
pMarker += length;
lengthRemaining -= length;
}
// append signalId
length = snprintf(pMarker, lengthRemaining,",%d",sv_meta_p->signalId);
pMarker += length;
lengthRemaining -= length;
length = loc_nmea_put_checksum(sentence, bufSize);
nmeaArraystr.push_back(sentence);
@@ -495,7 +497,20 @@ void loc_nmea_generate_pos(const UlpLocation &location,
int utcMinutes = pTm->tm_min;
int utcSeconds = pTm->tm_sec;
int utcMSeconds = (location.gpsLocation.timestamp)%1000;
loc_sv_cache_info sv_cache_info = {};
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;
sv_cache_info.glo_used_mask =
(uint32_t)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;
sv_cache_info.bds_used_mask =
(uint32_t)locationExtended.gnss_sv_used_ids.qzss_sv_used_ids_mask;
}
if (generate_nmea) {
char talker[3] = {'G', 'P', '\0'};
uint32_t svUsedCount = 0;
@@ -506,7 +521,8 @@ void loc_nmea_generate_pos(const UlpLocation &location,
// -------------------
count = loc_nmea_generate_GSA(locationExtended, sentence, sizeof(sentence),
loc_nmea_sv_meta_init(sv_meta, GNSS_SV_TYPE_GPS, true), nmeaArraystr);
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_GPS, true),
nmeaArraystr);
if (count > 0)
{
svUsedCount += count;
@@ -519,7 +535,8 @@ void loc_nmea_generate_pos(const UlpLocation &location,
// -------------------
count = loc_nmea_generate_GSA(locationExtended, sentence, sizeof(sentence),
loc_nmea_sv_meta_init(sv_meta, GNSS_SV_TYPE_GLONASS, true), nmeaArraystr);
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_GLONASS, true),
nmeaArraystr);
if (count > 0)
{
svUsedCount += count;
@@ -532,7 +549,8 @@ void loc_nmea_generate_pos(const UlpLocation &location,
// -------------------
count = loc_nmea_generate_GSA(locationExtended, sentence, sizeof(sentence),
loc_nmea_sv_meta_init(sv_meta, GNSS_SV_TYPE_GALILEO, true), nmeaArraystr);
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_GALILEO, true),
nmeaArraystr);
if (count > 0)
{
svUsedCount += count;
@@ -545,7 +563,8 @@ void loc_nmea_generate_pos(const UlpLocation &location,
// --------------------------
count = loc_nmea_generate_GSA(locationExtended, sentence, sizeof(sentence),
loc_nmea_sv_meta_init(sv_meta, GNSS_SV_TYPE_QZSS, false), nmeaArraystr);
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_QZSS, false),
nmeaArraystr);
if (count > 0)
{
svUsedCount += count;
@@ -556,7 +575,8 @@ void loc_nmea_generate_pos(const UlpLocation &location,
// ---$PQGSA/$GNGSA (BEIDOU)---
// ----------------------------
count = loc_nmea_generate_GSA(locationExtended, sentence, sizeof(sentence),
loc_nmea_sv_meta_init(sv_meta, GNSS_SV_TYPE_BEIDOU, false), nmeaArraystr);
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_BEIDOU, false),
nmeaArraystr);
if (count > 0)
{
svUsedCount += count;
@@ -787,6 +807,14 @@ void loc_nmea_generate_pos(const UlpLocation &location,
else // A means autonomous
length = snprintf(pMarker, lengthRemaining, "%c", 'A');
pMarker += length;
lengthRemaining -= length;
// hardcode Navigation Status field to 'V'
length = snprintf(pMarker, lengthRemaining, ",%c", 'V');
pMarker += length;
lengthRemaining -= length;
length = loc_nmea_put_checksum(sentence, sizeof(sentence));
nmeaArraystr.push_back(sentence);
@@ -920,13 +948,6 @@ void loc_nmea_generate_pos(const UlpLocation &location,
length = loc_nmea_put_checksum(sentence, sizeof(sentence));
nmeaArraystr.push_back(sentence);
// clear the cache so they can't be used again
sv_cache_info.gps_used_mask = 0;
sv_cache_info.glo_used_mask = 0;
sv_cache_info.gal_used_mask = 0;
sv_cache_info.qzss_used_mask = 0;
sv_cache_info.bds_used_mask = 0;
}
//Send blank NMEA reports for non-final fixes
else {
@@ -946,7 +967,7 @@ void loc_nmea_generate_pos(const UlpLocation &location,
length = loc_nmea_put_checksum(sentence, sizeof(sentence));
nmeaArraystr.push_back(sentence);
strlcpy(sentence, "$GPRMC,,V,,,,,,,,,,N", sizeof(sentence));
strlcpy(sentence, "$GPRMC,,V,,,,,,,,,,N,V", sizeof(sentence));
length = loc_nmea_put_checksum(sentence, sizeof(sentence));
nmeaArraystr.push_back(sentence);
@@ -982,27 +1003,11 @@ void loc_nmea_generate_sv(const GnssSvNotification &svNotify,
ENTRY_LOG();
char sentence[NMEA_SENTENCE_MAX_LENGTH] = {0};
char* pMarker = sentence;
int lengthRemaining = sizeof(sentence);
int length = 0;
int svCount = svNotify.count;
int sentenceCount = 0;
int sentenceNumber = 1;
int svNumber = 1;
loc_sv_cache_info sv_cache_info = {};
//Count GPS SVs for saparating GPS from GLONASS and throw others
sv_cache_info.gps_used_mask = 0;
sv_cache_info.glo_used_mask = 0;
sv_cache_info.gal_used_mask = 0;
sv_cache_info.qzss_used_mask = 0;
sv_cache_info.bds_used_mask = 0;
sv_cache_info.gps_count = 0;
sv_cache_info.glo_count = 0;
sv_cache_info.gal_count = 0;
sv_cache_info.qzss_count = 0;
sv_cache_info.bds_count = 0;
for(svNumber=1; svNumber <= svCount; svNumber++) {
if (GNSS_SV_TYPE_GPS == svNotify.gnssSvs[svNumber - 1].type)
{
@@ -1072,35 +1077,38 @@ void loc_nmea_generate_sv(const GnssSvNotification &svNotify,
// ------------------
loc_nmea_generate_GSV(svNotify, sentence, sizeof(sentence),
loc_nmea_sv_meta_init(sv_meta, GNSS_SV_TYPE_GPS, false), nmeaArraystr);
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_GPS, false), nmeaArraystr);
// ------------------
// ------$GLGSV------
// ------------------
loc_nmea_generate_GSV(svNotify, sentence, sizeof(sentence),
loc_nmea_sv_meta_init(sv_meta, GNSS_SV_TYPE_GLONASS, false), nmeaArraystr);
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_GLONASS, false),
nmeaArraystr);
// ------------------
// ------$GAGSV------
// ------------------
loc_nmea_generate_GSV(svNotify, sentence, sizeof(sentence),
loc_nmea_sv_meta_init(sv_meta, GNSS_SV_TYPE_GALILEO, false), nmeaArraystr);
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_GALILEO, false),
nmeaArraystr);
// -------------------------
// ------$PQGSV (QZSS)------
// -------------------------
loc_nmea_generate_GSV(svNotify, sentence, sizeof(sentence),
loc_nmea_sv_meta_init(sv_meta, GNSS_SV_TYPE_QZSS, false), nmeaArraystr);
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_QZSS, false), nmeaArraystr);
// ---------------------------
// ------$PQGSV (BEIDOU)------
// ---------------------------
loc_nmea_generate_GSV(svNotify, sentence, sizeof(sentence),
loc_nmea_sv_meta_init(sv_meta, GNSS_SV_TYPE_BEIDOU, false), nmeaArraystr);
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_BEIDOU, false),
nmeaArraystr);
EXIT_LOG(%d, 0);
}