/************************************************************************************ * I.MX6 GPS JNI HAL register init hacking * 声明： * 1. 本文主要是对Atheros GPS JNI、HAL层的代码进行初略的跟踪，主要想知道GPS设备 * 在这两层是如何注册、数据解析，目前还没分析Framework层进行分析。 * 2. 由于采用vim编辑文档，且分析文档的宽度超过博客园的文本宽度，如果想要阅读， * 尽量cp到自己文档里面，宽度足够，用vim进行阅读比较方便。 * 3. 不要在本博客上直接阅读，请采纳2中的意见。 * * 2015-11-3 深圳 阴 南山平山村 曾剑锋 ***********************************************************************************/ \\\\\\-*- 目录 -*-///////////// | 一、参考文章： | 二、JNI、HAL函数注册： | 三、Atheros GPS HAL初始化流程： ------------------------------------ 一、参考文章： GPS 研究二 （Android 2.3__gingerbread） http://blog.chinaunix.net/uid-25570748-id-184090.html android GPS HAL 回调函数实现 http://www.xuebuyuan.com/967335.html 二、JNI、HAL函数注册： cat /home/myzr/myandroid/frameworks/base/services/jni/com_android_server_location_GpsLocationProvider.cpp ... static void android_location_GpsLocationProvider_class_init_native(JNIEnv* env, jclass clazz) { int err; hw_module_t* module; method_reportLocation = env->GetMethodID(clazz, "reportLocation", "(IDDDFFFJ)V"); method_reportStatus = env->GetMethodID(clazz, "reportStatus", "(I)V"); method_reportSvStatus = env->GetMethodID(clazz, "reportSvStatus", "()V"); method_reportAGpsStatus = env->GetMethodID(clazz, "reportAGpsStatus", "(III)V"); method_reportNmea = env->GetMethodID(clazz, "reportNmea", "(J)V"); method_setEngineCapabilities = env->GetMethodID(clazz, "setEngineCapabilities", "(I)V"); method_xtraDownloadRequest = env->GetMethodID(clazz, "xtraDownloadRequest", "()V"); method_reportNiNotification = env->GetMethodID(clazz, "reportNiNotification", "(IIIIILjava/lang/String;Ljava/lang/String;IILjava/lang/String;)V"); method_requestRefLocation = env->GetMethodID(clazz,"requestRefLocation","(I)V"); method_requestSetID = env->GetMethodID(clazz,"requestSetID","(I)V"); method_requestUtcTime = env->GetMethodID(clazz,"requestUtcTime","()V"); err = hw_get_module(GPS_HARDWARE_MODULE_ID, (hw_module_t const**)&module); if (err == 0) { hw_device_t* device; <----------------------------------------+ err = module->methods->open(module, GPS_HARDWARE_MODULE_ID, &device); --------+ | if (err == 0) { | | gps_device_t* gps_device = (gps_device_t *)device; | | sGpsInterface = gps_device->get_gps_interface(gps_device); --------*-*-+ } | | | } | | | if (sGpsInterface) { | | | sGpsXtraInterface = | | | (const GpsXtraInterface*)sGpsInterface->get_extension(GPS_XTRA_INTERFACE); | | | sAGpsInterface = | | | (const AGpsInterface*)sGpsInterface->get_extension(AGPS_INTERFACE); | | | sGpsNiInterface = | | | (const GpsNiInterface*)sGpsInterface->get_extension(GPS_NI_INTERFACE); | | | sGpsDebugInterface = | | | (const GpsDebugInterface*)sGpsInterface->get_extension(GPS_DEBUG_INTERFACE);| | | sAGpsRilInterface = | | | (const AGpsRilInterface*)sGpsInterface->get_extension(AGPS_RIL_INTERFACE); | | | } | | | | } +-------+ | | | ... | | | | | | | | cat /home/myzr/myandroid/hardware/imx/libgps/gps.c | | | | ... | | | | extern const GpsInterface* gps_get_hardware_interface(); ---------+ | | | | const GpsInterface* gps__get_gps_interface(struct gps_device_t* dev) <--------*-*----*-*-+ { | | | | | return gps_get_hardware_interface(); ---------+ | | | | | | | | | } | | | | | | | | | | 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->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 <------*---------------*-*----+ }; | | | | | | struct hw_module_t HAL_MODULE_INFO_SYM = { | | | .tag = HARDWARE_MODULE_TAG, | | | .version_major = 1, | | | .version_minor = 0, | | | .id = GPS_HARDWARE_MODULE_ID, | | | .name = "Atheros GPS Module", | | | .author = "FSL MAD, Inc.", | | | .methods = &gps_module_methods, ---------------+ | | }; | | ... | | | | cat /home/myzr/myandroid/hardware/imx/libgps/athr_gps.c | | ... | | #ifdef ATHR_GPSNi | | /* | | * Registers the callbacks for HAL to use | | */ | | static void athr_gps_ni_init(GpsNiCallbacks* callbacks) | | { | | GpsState* s = _gps_state; | | | | D("%s: entered", __FUNCTION__); | | | | if (callbacks) | | { | | s->ni_init = 1; | | s->ni_callbacks = *callbacks; | | } | | } | | | | /* | | * Sends a response to HAL | | */ | | static void athr_gps_ni_respond(int notif_id, GpsUserResponseType user_response) | | { | | // D("%s: entered", __FUNCTION__); | | } | | | | static const GpsNiInterface athrGpsNiInterface = { | | sizeof(GpsNiInterface), | | athr_gps_ni_init, | | athr_gps_ni_respond, | | }; | | #endif // ATHR_GPSNi | | | | | | /** | | * 10-30 06:19:30.190: D/athr_gps(2570): | | * athr_gps_get_extension: found xtra extension | | * 10-30 06:19:30.190: D/athr_gps(2570): | | * athr_gps_get_extension: no GPS extension for agps is found | | * 10-30 06:19:30.190: D/athr_gps(2570): | | * athr_gps_get_extension: found ni extension | | * 10-30 06:19:30.190: D/athr_gps(2570): | | * athr_gps_get_extension: no GPS extension for gps-debug is found | | * 10-30 06:19:30.190: D/athr_gps(2570): | | * athr_gps_get_extension: no GPS extension for agps_ril is foun | | */ | | static const void* athr_gps_get_extension(const char* name) <---------------*-+ { | | if (strcmp(name, GPS_XTRA_INTERFACE) == 0) | | { | | #ifdef ATHR_GPSXtra | | D("%s: found xtra extension", __FUNCTION__); | | return (&athrGpsXtraInterface); | | #endif // ATHR_GPSXtra | | } | | else if (strcmp(name, GPS_NI_INTERFACE) == 0) | | { | | #ifdef ATHR_GPSNi | | D("%s: found ni extension", __FUNCTION__); | | return (&athrGpsNiInterface); | | #endif // ATHR_GPSNi | | } | | D("%s: no GPS extension for %s is found", __FUNCTION__, name); | | return NULL; | | } | | | | static const GpsInterface athrGpsInterface = { <----+ | | .size =sizeof(GpsInterface), | | | .init = athr_gps_init, | | | .start = athr_gps_start, | | | .stop = athr_gps_stop, | | | .cleanup = athr_gps_cleanup, | | | .inject_time = athr_gps_inject_time, | | | .inject_location = athr_gps_inject_location, | | | .delete_aiding_data = athr_gps_delete_aiding_data, | | | .set_position_mode = athr_gps_set_position_mode, | | | .get_extension = athr_gps_get_extension, | | | }; | | | | | | const GpsInterface* gps_get_hardware_interface() | <-------------------+ | { | | return &athrGpsInterface; -----+ | } | ... | | | cat /home/myzr/myandroid/hardware/libhardware/include/hardware/gps.h | ... | /** | * Name for the GPS XTRA interface. | */ | #define GPS_XTRA_INTERFACE "gps-xtra" | | /** | * Name for the GPS DEBUG interface. | */ | #define GPS_DEBUG_INTERFACE "gps-debug" | | /** | * Name for the AGPS interface. | */ | #define AGPS_INTERFACE "agps" | | /** | * Name for NI interface | */ | #define GPS_NI_INTERFACE "gps-ni" | | /** | * Name for the AGPS-RIL interface. | */ | #define AGPS_RIL_INTERFACE "agps_ril" <------------------------+ ... 三、Atheros GPS HAL初始化流程： cat /home/myzr/myandroid/hardware/imx/libgps/athr_gps.c ...... 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; char in[ NMEA_MAX_SIZE+1 ]; int gsa_fixed; AthTimemap_t timemap; } NmeaReader; <----+ | typedef struct { | int init; | int fd; | GpsCallbacks callbacks; | <--------+ pthread_t thread; | | pthread_t nmea_thread; | | pthread_t tmr_thread; | | int control[2]; | | int fix_freq; | | sem_t fix_sem; | | int first_fix; | | NmeaReader reader; ------+ | #ifdef ATHR_GPSXtra | int xtra_init; | GpsXtraCallbacks xtra_callbacks; | #endif | #ifdef ATHR_GPSNi | int ni_init; | GpsNiCallbacks ni_callbacks; | GpsNiNotification ni_notification; | #endif | } GpsState; --------------------+ | ...... | | static GpsState _gps_state[1]; <---+ <-----------+ | static GpsState *gps_state = _gps_state; <---+ | | ...... | | GpsCallbacks* g_gpscallback = 0; <-----------------------*-*-+ ...... | | | | | | static const GpsInterface athrGpsInterface = { | | | .size =sizeof(GpsInterface), | | | .init = athr_gps_init, -----------------+ | | | .start = athr_gps_start, | | | | .stop = athr_gps_stop, | | | | .cleanup = athr_gps_cleanup, | | | | .inject_time = athr_gps_inject_time, | | | | .inject_location = athr_gps_inject_location, | | | | .delete_aiding_data = athr_gps_delete_aiding_data, | | | | .set_position_mode = athr_gps_set_position_mode, | | | | .get_extension = athr_gps_get_extension, | | | | }; | | | | | | | | static int athr_gps_init(GpsCallbacks* callbacks) <------+ | | | { | | | GpsState* s = _gps_state; -------------+ | | | | D("gps state initializing %d",s->init); | | | | s->callbacks = *callbacks; -------------------------+ | if (!s->init) | gps_state_init(s); ----------+ | | | if(!g_gpscallback) | | g_gpscallback = callbacks; ----------*----------------+ | return 0; | } | | static void | gps_state_init( GpsState* state ) <---------+ { ... if ( socketpair( AF_LOCAL, SOCK_STREAM, 0, state->control ) < 0 ) { ALOGE("could not create thread control socket pair: %s", strerror(errno)); goto Fail; } state->thread = state->callbacks.create_thread_cb("athr_gps", gps_state_thread, state); if (!state->thread) | { | ALOGE("could not create gps thread: %s", strerror(errno)); | goto Fail; | } | state->callbacks.set_capabilities_cb(GPS_CAPABILITY_SCHEDULING); | D("gps state initialized"); | ... | } | | static void <-----------------------+ gps_state_thread( void* arg ) { ... state->tmr_thread = state->callbacks.create_thread_cb("athr_gps_tmr", gps_timer_thread, state); if (!state->tmr_thread) | { | ALOGE("could not create gps timer thread: %s", strerror(errno)); | started = 0; +--------------+ state->init = STATE_INIT; | goto Exit; | } | | state->nmea_thread = state->callbacks.create_thread_cb("athr_nmea_thread", gps_nmea_thread, | state); | | if (!state->nmea_thread) | | { | | ALOGE("could not create gps nmea thread: %s", strerror(errno)); | | started = 0; | | state->init = STATE_INIT; | | goto Exit; | | } | | ... | | } | | | | static void | | gps_nmea_thread( void* arg ) <-----------------+ | { | GpsState *state = (GpsState *)arg; <----+ | NmeaReader *reader; -----+ | | reader = &state->reader; -----+ -----+ | | | DFR("gps entered nmea thread"); | | int versioncnt = 0; | | | | // now loop +------------+ | while (continue_thread) | | { | | | | if (FD_ISSET(state->fd, &readfds)) | | { | | memset(buf,0,sizeof(buf)); | | ret = read( state->fd, buf, sizeof(buf) ); | | if (ret > 0) | | { | | if (strstr(buf, "CFG_R")) | | { | | ALOGI("ver %s",buf); | | } | | | | for (nn = 0; nn < ret; nn++) | | nmea_reader_addc( reader, buf[nn] ); <---+ -----------+ | | | /* ATHR in/out sentences*/ | | if ((buf[0] == 'O') && (buf[1] == 'A') && (buf[2] == 'P')) { | | D("OAP200 sentences found"); | | athr_reader_parse(buf, ret); | | /* | | for (nn = 0; nn < ret; nn++) | | D("%.2x ", buf[nn]); | | */ | | }else if ((buf[0] == '#') && (buf[1] == '!') && | | (buf[2] == 'G') && (buf[3] == 'S') && | | (buf[4] == 'M') && (buf[5] == 'A')) { | | D("GSMA sentences found"); | | athr_reader_parse(buf, ret); | | } | | } | | else | | { | | DFR("Error on NMEA read :%s",strerror(errno)); | | gps_closetty(state); | | GPS_STATUS_CB(state->callbacks, GPS_STATUS_SESSION_END); | | sleep(3); //wait Orion shutdown. | | bOrionShutdown = 1; | | continue; | | } | | } | | | | if(!continue_thread) | | break; | | } | | Exit: | | DFR("gps nmea thread destroyed"); | | return; | | } | | | | static void | | nmea_reader_addc( NmeaReader* r, int c ) <--------------------+ | { | int cnt; | | 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 == ' ') { | gps_state_lock_fix(gps_state); | nmea_reader_parse( r ); --------+ | gps_state_unlock_fix(gps_state); | | r->pos = 0; | | } | | } | | | | 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; | | if (r->pos < 9) { | return; | } | | if (gps_state->callbacks.nmea_cb) { | struct timeval tv; | unsigned long long mytimems; | gettimeofday(&tv,NULL); | mytimems = tv.tv_sec * 1000 + tv.tv_usec / 1000; | gps_state->callbacks.nmea_cb(mytimems, r->in, r->pos); | } | | nmea_tokenizer_init(tzer, r->in, r->in + r->pos); | #ifdef GPS_DEBUG_TOKEN | { | 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) { | /* for $PUNV sentences */ | if ( !memcmp(tok.p, "PUNV", 4) ) { | Token tok_cfg = nmea_tokenizer_get(tzer,1); | | if (!memcmp(tok_cfg.p, "CFG_R", 5)) { | } else if ( !memcmp(tok_cfg.p, "QUAL", 4) ) { | Token tok_sigma_x = nmea_tokenizer_get(tzer, 3); | | if (tok_sigma_x.p[0] != ',') { | Token tok_accuracy = nmea_tokenizer_get(tzer, 10); | nmea_reader_update_accuracy(r, tok_accuracy); | } | } else if (!memcmp(tok_cfg.p, "TIMEMAP", 7)) | { | Token systime = nmea_tokenizer_get(tzer, 8); // system time token | Token timestamp = nmea_tokenizer_get(tzer, 2); // UTC time token | nmea_reader_update_timemap(r, systime, timestamp); | } | }else{ | } | return; | } | | if ( !memcmp(tok.p, "GPG", 3) ) //GPGSA,GPGGA,GPGSV | bGetFormalNMEA = 1; | // ignore first two characters. | tok.p += 2; | | if ( !memcmp(tok.p, "GGA", 3) ) { | // GPS fix | Token tok_fixstaus = nmea_tokenizer_get(tzer,6); | | if (tok_fixstaus.p[0] > '0') { | | 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, "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, "GSA", 3) ) { | | Token tok_fixStatus = nmea_tokenizer_get(tzer, 2); | int i; | | if (tok_fixStatus.p[0] != ' ' && tok_fixStatus.p[0] != '1') { | | r->sv_status.used_in_fix_mask = 0ul; | | for (i = 3; i <= 14; ++i){ | | Token tok_prn = nmea_tokenizer_get(tzer, i); | int prn = str2int(tok_prn.p, tok_prn.end); | | /* only available for PRN 1-32 */ | if ((prn > 0) && (prn < 33)){ | r->sv_status.used_in_fix_mask |= (1ul << (prn-1)); | r->sv_status_changed = 1; | /* mark this parameter to identify the GSA is in fixed state */ | r->gsa_fixed = 1; | } | } | | }else { | if (r->gsa_fixed == 1) { | r->sv_status.used_in_fix_mask = 0ul; | r->sv_status_changed = 1; | r->gsa_fixed = 0; | } | } | D("%s","zengjf GSA"); | } else if ( !memcmp(tok.p, "GSV", 3) ) { | | Token tok_noSatellites = nmea_tokenizer_get(tzer, 3); | int noSatellites = str2int(tok_noSatellites.p, tok_noSatellites.end); | | 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); | int curr; | int i; | | if (sentence == 1) { | r->sv_status_changed = 0; | r->sv_status.num_svs = 0; | } | | 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.num_svs += 1; | | curr += 1; | | i += 1; | } | | if (sentence == totalSentences) { | r->sv_status_changed = 1; | } | } | | } else if ( !memcmp(tok.p, "RMC", 3) ) | | Token tok_fixStatus = nmea_tokenizer_get(tzer,2); | | if (tok_fixStatus.p[0] == 'A') | { | Token tok_time = nmea_tokenizer_get(tzer,1); | 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); | | 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 ); | } | D("%s","zengjf RMC"); | | } else if ( !memcmp(tok.p, "VTG", 3) ) { | | Token tok_fixStatus = nmea_tokenizer_get(tzer,9); | | if (tok_fixStatus.p[0] != ' ' && tok_fixStatus.p[0] != 'N') | { | Token tok_bearing = nmea_tokenizer_get(tzer,1); | Token tok_speed = nmea_tokenizer_get(tzer,5); | | nmea_reader_update_bearing( r, tok_bearing ); | nmea_reader_update_speed ( r, tok_speed ); | } | | } else if ( !memcmp(tok.p, "ZDA", 3) ) { | | Token tok_time; | Token tok_year = nmea_tokenizer_get(tzer,4); | | if (tok_year.p[0] != ' ') { | | Token tok_day = nmea_tokenizer_get(tzer,2); | Token tok_mon = nmea_tokenizer_get(tzer,3); | | nmea_reader_update_cdate( r, tok_day, tok_mon, tok_year ); | | } | | tok_time = nmea_tokenizer_get(tzer,1); | | if (tok_time.p[0] != ' ') { | | nmea_reader_update_time(r, tok_time); | | } | | | } else { | tok.p -= 2; | } | | if (!gps_state->first_fix && | gps_state->init == STATE_INIT && | r->fix.flags & GPS_LOCATION_HAS_LAT_LONG) { | | ath_send_ni_notification(r); | | if (gps_state->callbacks.location_cb) { | gps_state->callbacks.location_cb( &r->fix ); | r->fix.flags = 0; | } | | gps_state->first_fix = 1; | } | } | | static void | gps_timer_thread( void* arg ) <----------------------------------+ { int need_sleep = 0; int sleep_val = 0; GpsState *state = (GpsState *)arg; DFR("gps entered timer thread"); do { while(started != 1 && continue_thread) // { usleep(500*1000); } gps_state_lock_fix(state); if ((state->reader.fix.flags & GPS_LOCATION_HAS_LAT_LONG) != 0) { //D("gps fix cb: 0x%x", state->reader.fix.flags); if (state->callbacks.location_cb) { state->callbacks.location_cb( &state->reader.fix ); state->reader.fix.flags = 0; state->first_fix = 1; } if (state->fix_freq == 0) { state->fix_freq = -1; } } if (state->reader.sv_status_changed != 0) { // D("gps sv status callback"); if (state->callbacks.sv_status_cb) { state->callbacks.sv_status_cb( &state->reader.sv_status ); state->reader.sv_status_changed = 0; } } need_sleep = (state->fix_freq != -1 && (state->init != STATE_QUIT) ? 1 : 0) ; sleep_val = state->fix_freq; gps_state_unlock_fix(state); if (need_sleep) { sleep(sleep_val); } else { D("won't sleep because fix_freq=%d state->init=%d",state->fix_freq, sta te->init); } ath_send_ni_notification(&state->reader); if( state->init == STATE_INIT && lastcmd == CMD_STOP && started == 1) { int gap = 0; D("Wait for NMEA coming,%d,%d,%d", state->init , lastcmd, started); while (state->init != STATE_START && bGetFormalNMEA == 0 && continue_th read && !bOrionShutdown) { usleep(300*1000); if (++gap > 100) break; } ; D("Get NMEA %d and state %d",bGetFormalNMEA,state->init); // even we don't get nmea after 30 second, still force close it bGetFormalNMEA |= (gap >= 100); if( state->init == STATE_INIT && lastcmd == CMD_STOP && started == 1) { gps_sleep(state); } else { D("User enter LM before sending sleep, so drop it"); } } } while(continue_thread); DFR("gps timer thread destroyed"); return; }