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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 1 exit status make: *** [samples_generate] 错误 1 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 :
129, Lat: -nan, Lon: nan, Sig: 1, Fix: 3 $GPRMC,213922.000,A,4221.1129,N,07102.9146,W,0.00,,010207,,,A*6F Trace: $GPGGA,213923.000,4221.1129,N,07102.9146,W,1,04,3.9,129.7,M,-33.7,M,,0000*6F Trace: 130, Lat: -nan, Lon: nan, Sig: 1, Fix: 3 $GPGSA,A,3,26,07,06,21,,,,,,,,,4.1,3.9,1.0*3A Trace: 131, Lat: -nan, Lon: nan, Sig: 1, Fix: 3 $GPRMC,213923.000,A,4221.1129,N,07102.9146,W,0.00,,010207,,,A*6E Trace: $GPGGA,213924.000,4221.1129,N,07102.9146,W,1,04,3.9,129.7,M,-33.7,M,,0000*68 Trace: 132, Lat: -nan, Lon: nan, Sig: 1, Fix: 3 $GPGSA,A,3,26,07,06,21,,,,,,,,,4.0,3.9,1.0*3B Trace: 133, Lat: -nan, Lon: nan, Sig: 1, Fix: 3 $GPRMC,213924.000,A,4221.1129,N,07102.9146,W,0.00,,010207,,,A*69 Trace: $GPGGA,213925.000,4221.1129,N,07102.9146,W,1,04,3.9,129.7,M,-33.7,M,,0000*69 Trace: 134, Lat: -nan, Lon: nan, Sig: 1, Fix: 3 $GPGSA,A,3,26,07,06,21,,,,,,,,,4.0,3.9,1.0*3B Trace: $GPRMC,213925.000,A,4221.1129,N,07102.9146,W,0.00,,010207,,,A*68 Trace: 135, Lat: -nan, Lon: nan, Sig: 1, Fix: 3 $GPGGA,213926.000,4221.1112,N,07102.9177,W,1,04,3.9,136.5,M,-33.7,M,,0000*6C Trace: 136, Lat: -nan, Lon: nan, Sig: 1, Fix: 3 ---------------------------------------------------------------------------------
--------------------------------------------------------------------------------- Right case:
$GPGSV,3,2,11,24,83,061,,29,64,170,,10,45,056,,02,23,121,*7F Trace: $GPGSV,3,3,11,08,17,067,28,27,10,041,,18,05,257,*41 Trace: 127, Lat: 0.739180, Lon: -1.240032, Sig: 1, Fix: 3 $GPRMC,213921.000,A,4221.1129,N,07102.9146,W,0.00,,010207,,,A*6C Trace: 128, Lat: 0.739180, Lon: -1.240032, Sig: 1, Fix: 3 $GPGGA,213922.000,4221.1129,N,07102.9146,W,1,04,3.9,129.7,M,-33.7,M,,0000*6E Trace: $GPGSA,A,3,26,07,06,21,,,,,,,,,4.1,3.9,1.0*3A Trace: 129, Lat: 0.739180, Lon: -1.240032, Sig: 1, Fix: 3 $GPRMC,213922.000,A,4221.1129,N,07102.9146,W,0.00,,010207,,,A*6F Trace: $GPGGA,213923.000,4221.1129,N,07102.9146,W,1,04,3.9,129.7,M,-33.7,M,,0000*6F Trace: 130, Lat: 0.739180, Lon: -1.240032, Sig: 1, Fix: 3 $GPGSA,A,3,26,07,06,21,,,,,,,,,4.1,3.9,1.0*3A Trace: 131, Lat: 0.739180, Lon: -1.240032, Sig: 1, Fix: 3 $GPRMC,213923.000,A,4221.1129,N,07102.9146,W,0.00,,010207,,,A*6E Trace: $GPGGA,213924.000,4221.1129,N,07102.9146,W,1,04,3.9,129.7,M,-33.7,M,,0000*68 Trace: 132, Lat: 0.739180, Lon: -1.240032, Sig: 1, Fix: 3 $GPGSA,A,3,26,07,06,21,,,,,,,,,4.0,3.9,1.0*3B Trace: 133, Lat: 0.739180, Lon: -1.240032, Sig: 1, Fix: 3 $GPRMC,213924.000,A,4221.1129,N,07102.9146,W,0.00,,010207,,,A*69
/* * 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)0) #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 = 0; char* q; // the initial '$' is optional if (p < end && p[0] == '$') p += 1; // remove trailing newline if (end > p && end[-1] == ' ') { end -= 1; if (end > p && end[-1] == ' ') end -= 1; } // get rid of checksum at the end of the sentecne if (end >= p+3 && end[-3] == '*') { end -= 3; } 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 += 1; } } if (q < end) q += 1; p = q; } t->count = count; return count; } static Token nmea_tokenizer_get( NmeaTokenizer* t, int index ) { Token tok; static const char* dummy = ""; if (index < 0 || 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 = 0; int len = end - p; for ( ; len > 0; len--, p++ ) { int c; if (p >= end) goto Fail; c = *p - '0'; if ((unsigned)c >= 10) goto Fail; result = result*10 + c; } return result; Fail: return -1; } static double str2float( const char* p, const char* end ) { int result = 0; int len = end - p; char temp[16]; if (len >= (int)sizeof(temp)) return 0.; memcpy( temp, p, len ); temp[len] = 0; 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+1 ]; } 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 + 60*(tm_local.tm_min + 60*(tm_local.tm_hour + 24*(tm_local.tm_yday + 365*tm_local.tm_year))); time_utc = tm_utc.tm_sec + 60*(tm_utc.tm_min + 60*(tm_utc.tm_hour + 24*(tm_utc.tm_yday + 365*tm_utc.tm_year))); r->utc_diff = time_local - time_utc; } static void nmea_reader_init( NmeaReader* r ) { memset( r, 0, sizeof(*r) ); r->pos = 0; r->overflow = 0; r->utc_year = -1; r->utc_mon = -1; r->utc_day = -1; #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 != 0) { D("%s: sending latest fix to new callback", __FUNCTION__); #ifdef Ublox_6M r->callback.location_cb( &r->fix );///////////////////////////////////////////// #else r->fix.flags = 0; #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 + 6 > tok.end) return -1; if (r->utc_year < 0) { // no date yet, get current one time_t now = time(NULL); gmtime_r( &now, &tm ); r->utc_year = tm.tm_year + 1900; r->utc_mon = tm.tm_mon + 1; r->utc_day = tm.tm_mday; } hour = str2int(tok.p, tok.p+2); minute = str2int(tok.p+2, tok.p+4); seconds = str2float(tok.p+4, tok.end); tm.tm_hour = hour; tm.tm_min = minute; tm.tm_sec = (int) seconds; tm.tm_year = r->utc_year - 1900; tm.tm_mon = r->utc_mon - 1; tm.tm_mday = r->utc_day; tm.tm_isdst = -1; fix_time = mktime( &tm ) + r->utc_diff; r->fix.timestamp = (long long)fix_time * 1000; return 0; } static int nmea_reader_update_date( NmeaReader* r, Token date, Token time ) { Token tok = date; int day, mon, year; if (tok.p + 6 != tok.end) { D("date not properly formatted: '%.*s'", tok.end-tok.p, tok.p); return -1; } day = str2int(tok.p, tok.p+2); mon = str2int(tok.p+2, tok.p+4); year = str2int(tok.p+4, tok.p+6) + 2000; if ((day|mon|year) < 0) { D("date not properly formatted: '%.*s'", tok.end-tok.p, tok.p); return -1; } 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) / 100); double minutes = val - degrees*100.; 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 + 6 > tok.end) { D("latitude is too short: '%.*s'", tok.end-tok.p, tok.p); return -1; } lat = convert_from_hhmm(tok); if (latitudeHemi == 'S') lat = -lat; tok = longitude; if (tok.p + 6 > tok.end) { D("longitude is too short: '%.*s'", tok.end-tok.p, tok.p); return -1; } 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 0; } static int nmea_reader_update_altitude( NmeaReader* r, Token altitude, Token units ) { double alt; Token tok = altitude; if (tok.p >= tok.end) return -1; r->fix.flags |= GPS_LOCATION_HAS_ALTITUDE; r->fix.altitude = str2float(tok.p, tok.end); return 0; } static int nmea_reader_update_bearing( NmeaReader* r, Token bearing ) { double alt; Token tok = bearing; if (tok.p >= tok.end) return -1; r->fix.flags |= GPS_LOCATION_HAS_BEARING; r->fix.bearing = str2float(tok.p, tok.end); return 0; } static int nmea_reader_update_speed( NmeaReader* r, Token speed ) { double alt; Token tok = speed; if (tok.p >= tok.end) return -1; r->fix.flags |= GPS_LOCATION_HAS_SPEED; r->fix.speed = str2float(tok.p, tok.end); return 0; } static int nmea_reader_update_accuracy(NmeaReader * r, Token accuracy) { double acc; Token tok = accuracy; if(tok.p >= tok.end) return -1; r->fix.accuracy = str2float(tok.p, tok.end); if(r->fix.accuracy == 99.99){ return 0; } r->fix.flags |= GPS_LOCATION_HAS_ACCURACY; return 0; } /* 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[2]; } GpsState; static GpsState _gps_state[1]; static void nmea_reader_parse( NmeaReader* r ) { /* we received a complete sentence, now parse it to generate * a new GPS fix... */ NmeaTokenizer tzer[1]; Token tok; D("Received: '%.*s'", r->pos, r->in); if (r->pos < 9) { 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 = 0; 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, 0); if (tok.p + 5 > tok.end) { D("sentence id '%.*s' too short, ignored.", tok.end-tok.p, tok.p); return; } // ignore first two characters. tok.p += 2; if ( !memcmp(tok.p, "GGA", 3) ) { // GPS fix Token tok_time = nmea_tokenizer_get(tzer,1); Token tok_latitude = nmea_tokenizer_get(tzer,2); Token tok_latitudeHemi = nmea_tokenizer_get(tzer,3); Token tok_longitude = nmea_tokenizer_get(tzer,4); Token tok_longitudeHemi = nmea_tokenizer_get(tzer,5); Token tok_altitude = nmea_tokenizer_get(tzer,9); Token tok_altitudeUnits = nmea_tokenizer_get(tzer,10); nmea_reader_update_time(r, tok_time); nmea_reader_update_latlong(r, tok_latitude, tok_latitudeHemi.p[0], tok_longitude, tok_longitudeHemi.p[0]); nmea_reader_update_altitude(r, tok_altitude, tok_altitudeUnits); } else if ( !memcmp(tok.p, "GSA", 3) ) { // do something ? #ifdef Ublox_6M { D("may%s,%d,%s,gsa ",__FILE__,__LINE__,__FUNCTION__); Token tok_fixStatus = nmea_tokenizer_get(tzer, 2); int i; if (tok_fixStatus.p[0] != ' ' && tok_fixStatus.p[0] != '1') { Token tok_accuracy = nmea_tokenizer_get(tzer, 15);//position dilution of precision dop nmea_reader_update_accuracy(r, tok_accuracy); r->sv_status.used_in_fix_mask = 0ul; D(" "); for (i = 3; i <= 14; ++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 > 0){ r->sv_status.used_in_fix_mask |= (1ul << ( prn-1)); r->sv_status_changed = 1; } }D(" "); 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", 3) ) { D("may%s,%d,%s,gsV ",__FILE__,__LINE__,__FUNCTION__); Token tok_noSatellites = nmea_tokenizer_get(tzer, 3); int noSatellites = str2int(tok_noSatellites.p, tok_noSatellites.end); D("%d,inview=%d, ",__LINE__,noSatellites); if (noSatellites > 0) { Token tok_noSentences = nmea_tokenizer_get(tzer, 1); Token tok_sentence = nmea_tokenizer_get(tzer, 2); 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 ",__LINE__,sentence,totalSentences); int curr; int i; if (sentence == 1) { D("msg_index=%d ",sentence); // r->sv_status_changed = 0; r->sv_status.num_svs = 0; r->sv_status.ephemeris_mask=0ul; r->sv_status.almanac_mask=0ul; } curr = r->sv_status.num_svs; i = 0; while (i < 4 && r->sv_status.num_svs < noSatellites){ Token tok_prn = nmea_tokenizer_get(tzer, i * 4 + 4); Token tok_elevation = nmea_tokenizer_get(tzer, i * 4 + 5); Token tok_azimuth = nmea_tokenizer_get(tzer, i * 4 + 6); Token tok_snr = nmea_tokenizer_get(tzer, i * 4 + 7); 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-1)); r->sv_status.almanac_mask|=(1ul << (r->sv_status.sv_list[curr].prn-1)); r->sv_status.num_svs += 1; D("**********curr=%d ",curr); D("%d,prn=%d:snr=%f ",__LINE__,r->sv_status.sv_list[curr].prn,r->sv_status.sv_list[curr].snr); curr += 1; i += 1; } 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 !=0) { if (r->callback.sv_status_cb) { #if GPS_DEBUG D("%d,SV_STATSU,change=%d ",__LINE__,r->sv_status_changed); int nums=r->sv_status.num_svs; D("num_svs=%d,emask=%x,amask=%x,inusemask=%x ",r->sv_status.num_svs,r->sv_status.ephemeris_mask,r->sv_status.almanac_mask,r->sv_status.used_in_fix_mask); D("************88 "); while(nums) { nums--; D("prn=%d:snr=%f ",r->sv_status.sv_list[nums].prn,r->sv_status.sv_list[nums].snr); }D("************88 "); #endif r->callback.sv_status_cb( &(r->sv_status) ); r->sv_status_changed = 0; }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", 3) ) { Token tok_fixstaus = nmea_tokenizer_get(tzer,6); if (tok_fixstaus.p[0] == 'A') { Token tok_latitude = nmea_tokenizer_get(tzer,1); Token tok_latitudeHemi = nmea_tokenizer_get(tzer,2); Token tok_longitude = nmea_tokenizer_get(tzer,3); Token tok_longitudeHemi = nmea_tokenizer_get(tzer,4); Token tok_time = nmea_tokenizer_get(tzer,5); nmea_reader_update_time(r, tok_time); nmea_reader_update_latlong(r, tok_latitude, tok_latitudeHemi.p[0], tok_longitude, tok_longitudeHemi.p[0]); } } ///////////////////////////////////////////////////////////////////////////////// else if ( !memcmp(tok.p, "RMC", 3) ) { #ifndef Ublox_6M Token tok_time = nmea_tokenizer_get(tzer,1); Token tok_fixStatus = nmea_tokenizer_get(tzer,2); Token tok_latitude = nmea_tokenizer_get(tzer,3); Token tok_latitudeHemi = nmea_tokenizer_get(tzer,4); Token tok_longitude = nmea_tokenizer_get(tzer,5); Token tok_longitudeHemi = nmea_tokenizer_get(tzer,6); Token tok_speed = nmea_tokenizer_get(tzer,7); Token tok_bearing = nmea_tokenizer_get(tzer,8); Token tok_date = nmea_tokenizer_get(tzer,9); D("in RMC, fixStatus=%c", tok_fixStatus.p[0]); if (tok_fixStatus.p[0] == 'A') { nmea_reader_update_date( r, tok_date, tok_time ); nmea_reader_update_latlong( r, tok_latitude, tok_latitudeHemi.p[0], tok_longitude, tok_longitudeHemi.p[0] ); nmea_reader_update_bearing( r, tok_bearing ); nmea_reader_update_speed ( r, tok_speed ); } #else Token tok_time = nmea_tokenizer_get(tzer,1); Token tok_fixStatus = nmea_tokenizer_get(tzer,2); Token tok_latitude = nmea_tokenizer_get(tzer,3); Token tok_latitudeHemi = nmea_tokenizer_get(tzer,4); Token tok_longitude = nmea_tokenizer_get(tzer,5); Token tok_longitudeHemi = nmea_tokenizer_get(tzer,6); Token tok_speed = nmea_tokenizer_get(tzer,7); Token tok_bearing = nmea_tokenizer_get(tzer,8); Token tok_date = nmea_tokenizer_get(tzer,9); D("in RMC, fixStatus=%c", tok_fixStatus.p[0]); if (tok_fixStatus.p[0] == 'A') { nmea_reader_update_date( r, tok_date, tok_time ); nmea_reader_update_latlong( r, tok_latitude, tok_latitudeHemi.p[0], tok_longitude, tok_longitudeHemi.p[0] ); 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 ",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 ",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 = 0; } if (r->callback.nmea_cb) { D("report,timestamp=%llx,%llu ",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) "); r->callback( &r->fix ); r->fix.flags = 0; } #endif } #endif } else { tok.p -= 2; D("unknown sentence '%.*s", tok.end-tok.p, tok.p); } if (r->fix.flags != 0) { #if GPS_DEBUG char temp[256]; 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 = 0; } else { D("no callback, keeping data until needed !"); } #endif } } static void nmea_reader_addc( NmeaReader* r, int c ) { if (r->overflow) { r->overflow = (c != ' '); return; } if (r->pos >= (int) sizeof(r->in)-1 ) { r->overflow = 1; r->pos = 0; return; } r->in[r->pos] = (char)c; r->pos += 1; if (c == ' ') { nmea_reader_parse( r ); r->pos = 0; } } /*****************************************************************/ /*****************************************************************/ /***** *****/ /***** C O N N E C T I O N S T A T E *****/ /***** *****/ /*****************************************************************/ /*****************************************************************/ /* commands sent to the gps thread */ enum { CMD_QUIT = 0, CMD_START = 1, CMD_STOP = 2 }; 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[0], &cmd, 1 ); pthread_join(s->thread, &dummy); // close the control socket pair close( s->control[0] ); s->control[0] = -1; close( s->control[1] ); s->control[1] = -1; // close connection to the QEMU GPS daemon close( s->fd ); s->fd = -1; s->init = 0; } static void gps_state_start( GpsState* s ) { char cmd = CMD_START; int ret; do { ret=write( s->control[0], &cmd, 1 ); } while (ret < 0 && errno == EINTR); if (ret != 1) 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[0], &cmd, 1 ); } while (ret < 0 && errno == EINTR); if (ret != 1) 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 < 0 && 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 < 0 && 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[1]; int epoll_fd = epoll_create(2); int started = 0; int gps_fd = state->fd; int control_fd = state->control[1]; 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[2]; int ne, nevents; nevents = epoll_wait( epoll_fd, events, 2, -1 ); if (nevents < 0) { if (errno != EINTR) LOGE("epoll_wait() unexpected error: %s", strerror(errno)); continue; } D("gps thread received %d events", nevents); for (ne = 0; ne < nevents; ne++) { if ((events[ne].events & (EPOLLERR|EPOLLHUP)) != 0) { LOGE("EPOLLERR or EPOLLHUP after epoll_wait() !?"); goto Exit; } if ((events[ne].events & EPOLLIN) != 0) { int fd = events[ne].data.fd; if (fd == control_fd) { char cmd = 255; int ret; D("gps control fd event"); do { ret = read( fd, &cmd, 1 ); } while (ret < 0 && 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 = 1; //****************************************************************** g_status.status=GPS_STATUS_SESSION_BEGIN;//BFAAʼB5BCBABD 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 = 0; //******************************************************************** 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[32]; D("gps fd event"); for (;;) { int nn, ret; ret = read( fd, buff, sizeof(buff) ); if (ret < 0) { 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 = 0; 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 = 1; state->control[0] = -1; state->control[1] = -1; state->fd = -1; int ret = -1; struct termios gps_termios; //***************************************************************************** state->fd= open("/dev/s3c2410_serial1",O_RDWR|O_NOCTTY|O_NDELAY);//D5E2C0EFD3õC4CAC7UART1 if( state->fd < 0){ LOGE("open port /dev/s3c2410_serial1 ERROR..state->fd=%d ",state->fd); exit(0); }else LOGE("open port:/dev/s3c2410_serial1 succceed..state->fd=%d ",state->fd); if(fcntl( state->fd,F_SETFL,0)<0) LOGE("fcntl F_SETFL "); { LOGI(">>>> Port setup.. "); int err; tcflush(state->fd, TCIOFLUSH);//D2D4CFC2CAC7C5E4D6ôAEBFڵIJCECAFD if ((err = tcgetattr(state->fd,&gps_termios)) != 0) { LOGI("tcgetattr(%d) = %d,errno %d ",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))//BEDFCCE5B5IJοBCGPSCEĵB5 { LOGE("cfsetispeed.. errno.. "); close(state->fd); //return(-1); } // Set the output baud rates in the termios. if (cfsetospeed(&gps_termios,B9600)) { LOGE("cfsetispeed.. errno.. "); close(state->fd); //return(-1); } tcsetattr(state->fd,TCSANOW,&gps_termios); LOGE("Port setup finished.. "); } if (state->fd < 0) { LOGD("no gps emulation detected"); return; } //********************************************************************** if ( socketpair( AF_LOCAL, SOCK_STREAM, 0, state->control ) < 0 ) { 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; //עB2E1BBصF7BAAFCAFD,JNIB4ABCFC2C0B4B5ĻصF7BAAFCAFD g_status.status=GPS_STATUS_ENGINE_ON;//C9E8D6C3״̬ ͨB5絫BBB9ûBFAAʼB5BCBABD s->callbacks.status_cb(&g_status); /******************************************************/ if (!s->init) gps_state_init(s); if (s->fd < 0) return -1; // s->callbacks = *callbacks; return 0; } 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 -1; } D("%s: called", __FUNCTION__); gps_state_start(s); return 0; } static int qemu_gps_stop() { GpsState* s = _gps_state; if (!s->init) { D("%s: called with uninitialized state !!", __FUNCTION__); return -1; } D("%s: called", __FUNCTION__); gps_state_stop(s); return 0; } static int qemu_gps_inject_time(GpsUtcTime time, int64_t timeReference, int uncertainty) { return 0; } static int qemu_gps_inject_location(double latitude, double longitude, float accuracy) { return 0; } 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 0; } 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, 0, sizeof(*dev)); dev->common.tag = HARDWARE_DEVICE_TAG; dev->common.version = 0; 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 0; } 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 = 1, .version_minor = 0, .id = GPS_HARDWARE_MODULE_ID, .name = "Goldfish GPS Module", .author = "The Android Open Source Project", .methods = &gps_module_methods, };