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RK3588 Android 12 北斗模块调试_rk 安卓12 gps适配
作者：小丑西瓜9 | 2024-04-24 09:07:21
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rk 安卓12 gps适配
RK3588 Android 12 北斗模块调试
北斗模块设备
北斗模块用的MTK RS1612M3 , http://www.sragps.com/web/down.html,可以查看相关资料，用串口和系统通讯 Android12中主要包括串口设备树修改，GPS2.0加载，gps.default.so编译和上层应用测试，以下主要记录测试中碰到的难点
设备树添加串口
板子上用的串口8，因此打开uart8的设备树配置
&uart8 {
status = “okay”;
pinctrl-names = “default”;
pinctrl-0 = <&uart8m0_xfer &uart8m0_ctsn &uart8m0_rtsn>;
};
用默认的RK3588-evb1-lp4-v10.dts
替换gnss2.0补丁
从瑞芯微获得gnss2.0 补丁，替换以前的内容，在hardware\interfaces\gnss\2.0\default\
修改device.mk 添加
PRODUCT_PACKAGES +=
android.hardware.gnss@2.0-impl
android.hardware.gnss@2.0-service
从北斗模块厂家或自已开发gps.default.so。
我们使用瑞芯微获取 gps_zkw.c，和Android.mk. 编译后生成gps.default.so
可以单独生成gps.default.so 会放到/vendor/lib64/hw 目录下。
设置/dev/ttyS8 权限
以上修改后打包生成镜像文件，一直提示没有权限打不开/dev/ttyS8,在网上搜索发现是没有添加权限。在linux系统中，可通过udev规则在系统启动时修改设备文件的访问权限，但在Android系统中没有实现udev规则，而是提供uevent机制，可以在系统启动时修改设备文件的访问权限。我们查看ueventd.rc的信息：
system/core/rootdir/ueventd.rc 中添加
/dev/ttyS8 0666 root root
按说添加以后应该会生效，但一直还是提示没有权限，后发现是其他地方修改了。
在/device/rockchip/common/init.connectivity.rc,文件中，把ttyS8当做蓝牙了
chown bluetooth net_bt /dev/ttyS8
把这部分去掉，就可以看到数据通过callback发到上层了。
应用层测试
在网上搜索了几个测试软件，有AndroiTS GPS Test和Cellular-Z,其中Cellular-Z可以查看NMEA
可以看到实时收到的实时数据
- 1
- 2
软件提示要到室外开阔的地方测试，也就是需要天线了。
由于还没有安装天线，卫星数还显示不出来。
gps.zkw.c参考
#include <pthread.h> #include <fcntl.h> #include <sys/epoll.h> #include <math.h> #include <time.h> #include <string.h> #include <sys/socket.h> #include <sys/un.h> #include <arpa/inet.h> #include <netinet/in.h> #include <netdb.h> #include <fcntl.h> #include <sys/stat.h> #include <semaphore.h> #include <termios.h> #include <sys/ioctl.h> #include <sys/time.h> #include <sys/stat.h> #include <sys/types.h> #include <stdio.h> #include <stdlib.h> #include <unistd.h> #include <signal.h> #define LOCATION_NLP_FIX "/data/misc/gps/LOCATION.DAT" #define C_INVALID_FD -1 #define LOG_TAG "gps_zkw" #include <cutils/log.h> #include <cutils/sockets.h> #include <cutils/properties.h> #ifdef HAVE_LIBC_SYSTEM_PROPERTIES #define _REALLY_INCLUDE_SYS__SYSTEM_PROPERTIES_H_ #include <sys/_system_properties.h> #endif //#include <hardware/gps7.h> #include <hardware/gps.h> /* the name of the controlled socket */ #define GPS_CHANNEL_NAME "/dev/ttyS3" #define TTY_BAUD B9600 // B115200 #define GPS_DEBUG 1 #define NEMA_DEBUG 1 /*the flag works if GPS_DEBUG is defined*/ #if GPS_DEBUG #define TRC(f) ALOGE("%s", __func__) #define ERR(f, ...) ALOGE("%s: line = %d, " f, __func__, __LINE__, ##__VA_ARGS__) #define WAN(f, ...) ALOGE("%s: line = %d, " f, __func__, __LINE__, ##__VA_ARGS__) #define DBG(f, ...) ALOGE("%s: line = %d, " f, __func__, __LINE__, ##__VA_ARGS__) #define VER(f, ...) ((void)0) // ((void)0) // #else # define DBG(...) ((void)0) # define VER(...) ((void)0) # define ERR(...) ((void)0) #endif static int flag_unlock = 0; GpsStatus gps_status; const char* gps_native_thread = "GPS NATIVE THREAD"; static GpsCallbacks callback_backup; static float report_time_interval = 0; static int started = 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, CMD_RESTART = 3, CMD_DOWNLOAD = 4, CMD_TEST_START = 10, CMD_TEST_STOP = 11, CMD_TEST_SMS_NO_RESULT = 12, }; static int gps_nmea_end_tag = 0; /*****************************************************************/ /*****************************************************************/ /***** *****/ /***** 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 24 typedef struct { int count; Token tokens[ MAX_NMEA_TOKENS ]; } NmeaTokenizer; 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) == '\n')) { end -= 1; if (end > p && (*(end-1) == '\r')) 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; int sign = 1; if (*p == '-') { sign = -1; p++; 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 sign*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 #define NMEA_MAX_SIZE 128 /*maximum number of SV information in GPGSV*/ #define NMEA_MAX_SV_INFO 4 #define LOC_FIXED(pNmeaReader) ((pNmeaReader->fix_mode == 2) || (pNmeaReader->fix_mode ==3)) typedef struct { int pos; int overflow; int utc_year; int utc_mon; int utc_day; int utc_diff; GpsLocation fix; /* * The fix flag extracted from GPGSA setence: 1: No fix; 2 = 2D; 3 = 3D * if the fix mode is 0, no location will be reported via callback * otherwise, the location will be reported via callback */ int fix_mode; /* * Indicate that the status of callback handling. * The flag is used to report GPS_STATUS_SESSION_BEGIN or GPS_STATUS_SESSION_END: * (0) The flag will be set as true when callback setting is changed via nmea_reader_set_callback * (1) GPS_STATUS_SESSION_BEGIN: receive location fix + flag set + callback is set * (2) GPS_STATUS_SESSION_END: receive location fix + flag set + callback is null */ int cb_status_changed; int sv_count; /*used to count the number of received SV information*/ GpsSvStatus sv_status_gps; GnssSvStatus sv_status_gnss; GpsCallbacks callbacks; char in[ NMEA_MAX_SIZE+1 ]; int sv_status_can_report; int location_can_report; int sv_used_in_fix[256]; } NmeaReader; static void nmea_reader_update_utc_diff(NmeaReader* const r) { time_t now = time(NULL); struct tm tm_local; struct tm tm_utc; unsigned long time_local, time_utc; gmtime_r(&now, &tm_utc); localtime_r(&now, &tm_local); time_local = mktime(&tm_local); time_utc = mktime(&tm_utc); r->utc_diff = time_utc - time_local; } static void nmea_reader_init(NmeaReader* const r) { memset(r, 0, sizeof(*r)); r->pos = 0; r->overflow = 0; r->utc_year = -1; r->utc_mon = -1; r->utc_day = -1; r->utc_diff = 0; r->callbacks.location_cb= NULL; r->callbacks.status_cb= NULL; r->callbacks.sv_status_cb= NULL; r->sv_count = 0; r->fix_mode = 0; /*no fix*/ r->cb_status_changed = 0; memset((void*)&r->sv_status_gps, 0x00, sizeof(r->sv_status_gps)); memset((void*)&r->sv_status_gnss, 0x00, sizeof(r->sv_status_gnss)); memset((void*)&r->in, 0x00, sizeof(r->in)); nmea_reader_update_utc_diff(r); } static void nmea_reader_set_callback(NmeaReader* const r, GpsCallbacks* const cbs) { if (!r) { /*this should not happen*/ return; } else if (!cbs) { /*unregister the callback */ return; } else {/*register the callback*/ r->fix.flags = 0; r->sv_count = 0; r->sv_status_gps.num_svs = 0; r->sv_status_gnss.num_svs = 0; } } static int nmea_reader_update_time(NmeaReader* const r, Token tok) { int hour, minute; double seconds; struct tm tm; struct tm tm_local; time_t fix_time; if (tok.p + 6 > tok.end) return -1; memset((void*)&tm, 0x00, sizeof(tm)); 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; if (mktime(&tm) == (time_t)-1) ERR("mktime error: %d %s\n", errno, strerror(errno)); fix_time = mktime(&tm); localtime_r(&fix_time, &tm_local); // fix_time += tm_local.tm_gmtoff; // DBG("fix_time: %d\n", (int)fix_time); r->fix.timestamp = (long long)fix_time * 1000; return 0; } static int nmea_reader_update_date(NmeaReader* const r, Token date, Token time) { Token tok = date; int day, mon, year; if (tok.p + 6 != tok.end) { ERR("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) { ERR("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* const r, Token latitude, char latitudeHemi, Token longitude, char longitudeHemi) { double lat, lon; Token tok; tok = latitude; if (tok.p + 6 > tok.end) { ERR("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) { ERR("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; } /* this is the state of our connection to the daemon */ typedef struct { int init; int fd; GpsCallbacks callbacks; pthread_t thread; int control[2]; int sockfd; int epoll_hd; int flag; int start_flag; // int thread_exit_flag; } GpsState; static GpsState _gps_state[1]; static int nmea_reader_update_altitude(NmeaReader* const 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* const 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* const r, Token speed) { double alt; Token tok = speed; if (tok.p >= tok.end) return -1; r->fix.flags |= GPS_LOCATION_HAS_SPEED; // knot to m/s r->fix.speed = str2float(tok.p, tok.end) / 1.942795467; return 0; } // Add by LCH for accuracy static int nmea_reader_update_accuracy(NmeaReader* const r, Token accuracy) { double alt; Token tok = accuracy; if (tok.p >= tok.end) return -1; r->fix.flags |= GPS_LOCATION_HAS_ACCURACY; r->fix.accuracy = str2float(tok.p, tok.end); return 0; } /* static int nmea_reader_update_sv_status_gps(NmeaReader* r, int sv_index, int id, Token elevation, Token azimuth, Token snr) { // int prn = str2int(id.p, id.end); int prn = id; if ((prn <= 0) || (prn < 65 && prn > GPS_MAX_SVS)|| (prn > 96) || (r->sv_count >= GPS_MAX_SVS)) { VER("sv_status_gps: ignore (%d)", prn); return 0; } sv_index = r->sv_count+r->sv_status_gps.num_svs; if (GPS_MAX_SVS <= sv_index) { ERR("ERR: sv_index=[%d] is larger than GPS_MAX_SVS.\n", sv_index); return 0; } r->sv_status_gps.sv_list[sv_index].prn = prn; r->sv_status_gps.sv_list[sv_index].snr = str2float(snr.p, snr.end); r->sv_status_gps.sv_list[sv_index].elevation = str2int(elevation.p, elevation.end); r->sv_status_gps.sv_list[sv_index].azimuth = str2int(azimuth.p, azimuth.end); r->sv_count++; VER("sv_status_gps(%2d): %2d, %2f, %3f, %2f", sv_index, r->sv_status_gps.sv_list[sv_index].prn, r->sv_status_gps.sv_list[sv_index].elevation, r->sv_status_gps.sv_list[sv_index].azimuth, r->sv_status_gps.sv_list[sv_index].snr); return 0; } */ static int get_svid(int prn, int sv_type) { if (sv_type == GNSS_CONSTELLATION_GLONASS && prn >= 1 && prn <= 32) return prn + 64; else if (sv_type == GNSS_CONSTELLATION_BEIDOU && prn >= 1 && prn <= 32) return prn + 200; return prn; } static int nmea_reader_update_sv_status_gnss(NmeaReader* r, int sv_index, int id, Token elevation, Token azimuth, Token snr) { int prn = id; sv_index = r->sv_count + r->sv_status_gnss.num_svs; if (GNSS_MAX_SVS <= sv_index) { ERR("ERR: sv_index=[%d] is larger than GNSS_MAX_SVS.\n", sv_index); return 0; } if ((prn > 0) && (prn < 32)) { r->sv_status_gnss.gnss_sv_list[sv_index].svid = prn; r->sv_status_gnss.gnss_sv_list[sv_index].constellation = GNSS_CONSTELLATION_GPS; } else if ((prn >= 65) && (prn <= 96)) { r->sv_status_gnss.gnss_sv_list[sv_index].svid = prn-64; r->sv_status_gnss.gnss_sv_list[sv_index].constellation = GNSS_CONSTELLATION_GLONASS; } else if ((prn >= 201) && (prn <= 237)) { r->sv_status_gnss.gnss_sv_list[sv_index].svid = prn-200; r->sv_status_gnss.gnss_sv_list[sv_index].constellation = GNSS_CONSTELLATION_BEIDOU; } else if ((prn >= 401) && (prn <= 436)) { r->sv_status_gnss.gnss_sv_list[sv_index].svid = prn-400; r->sv_status_gnss.gnss_sv_list[sv_index].constellation = GNSS_CONSTELLATION_GALILEO; } else { DBG("sv_status: ignore (%d)", prn); return 0; } r->sv_status_gnss.gnss_sv_list[sv_index].c_n0_dbhz = str2float(snr.p, snr.end); r->sv_status_gnss.gnss_sv_list[sv_index].elevation = str2int(elevation.p, elevation.end); r->sv_status_gnss.gnss_sv_list[sv_index].azimuth = str2int(azimuth.p, azimuth.end); r->sv_status_gnss.gnss_sv_list[sv_index].flags = 0; if (1 == r->sv_used_in_fix[prn]) { r->sv_status_gnss.gnss_sv_list[sv_index].flags |= GNSS_SV_FLAGS_USED_IN_FIX; } r->sv_count++; DBG("sv_status(%2d): %2d, %d, %2f, %3f, %2f, %d", sv_index, r->sv_status_gnss.gnss_sv_list[sv_index].svid, r->sv_status_gnss.gnss_sv_list[sv_index].constellation, r->sv_status_gnss.gnss_sv_list[sv_index].elevation, r->sv_status_gnss.gnss_sv_list[sv_index].azimuth, r->sv_status_gnss.gnss_sv_list[sv_index].c_n0_dbhz, r->sv_status_gnss.gnss_sv_list[sv_index].flags); return 0; } static void nmea_reader_parse(NmeaReader* const r) { /* we received a complete sentence, now parse it to generate * a new GPS fix... */ NmeaTokenizer tzer[1]; Token tok; GnssConstellationType sv_type = GNSS_CONSTELLATION_GPS; #if NEMA_DEBUG DBG("Received: '%.*s'", r->pos, r->in); #endif if (r->pos < 9) { ERR("Too short. discarded. '%.*s'", r->pos, r->in); return; } if (r->pos < (int)sizeof(r->in)) { nmea_tokenizer_init(tzer, r->in, r->in + r->pos); } #if NEMA_DEBUG { int n; DBG("Found %d tokens", tzer->count); for (n = 0; n < tzer->count; n++) { Token tok = nmea_tokenizer_get(tzer, n); DBG("%2d: '%.*s'", n, tok.end-tok.p, tok.p); } } #endif tok = nmea_tokenizer_get(tzer, 0); if (tok.p + 5 > tok.end) { ERR("sentence id '%.*s' too short, ignored.", tok.end-tok.p, tok.p); return; } // ignore first two characters. if (!memcmp(tok.p, "BD", 2)) { sv_type = GNSS_CONSTELLATION_BEIDOU; DBG("BDS SV type"); } else if (!memcmp(tok.p, "GL", 2)) { sv_type = GNSS_CONSTELLATION_GLONASS; DBG("GLN SV type"); } 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)) { Token tok_fix = nmea_tokenizer_get(tzer, 2); Token tok_svs = nmea_tokenizer_get(tzer, 18); switch(tok_svs.p[0]) { case '1': sv_type = GNSS_CONSTELLATION_GPS; break; case '2': sv_type = GNSS_CONSTELLATION_GLONASS; break; case '4': sv_type = GNSS_CONSTELLATION_BEIDOU; break; default: break; } int idx, max = 12; /*the number of satellites in GPGSA*/ r->fix_mode = str2int(tok_fix.p, tok_fix.end); if (LOC_FIXED(r)) { /* 1: No fix; 2: 2D; 3: 3D*/ Token tok_accuracy = nmea_tokenizer_get(tzer, 15); nmea_reader_update_accuracy(r, tok_accuracy); // pdop for (idx = 0; idx < max; idx++) { Token tok_satellite = nmea_tokenizer_get(tzer, idx+3); if (tok_satellite.p == tok_satellite.end) { DBG("GSA: found %d active satellites\n", idx); break; } int prn = str2int(tok_satellite.p, tok_satellite.end); int svid = get_svid(prn, sv_type); if (svid >= 0 && svid < 256) r->sv_used_in_fix[svid] = 1; /* if (sv_type == GNSS_CONSTELLATION_BEIDOU) { sate_id += 200; } else if (sv_type == GNSS_CONSTELLATION_GLONASS) { sate_id += 64; } if (sate_id >= 1 && sate_id <= 32) { // GP r->sv_used_in_fix[sate_id] = 1; } else if (sate_id >= 193 && sate_id <= 197) { r->sv_used_in_fix[sate_id] = 0; DBG("[debug mask]QZSS, just ignore. satellite id is %d\n ", sate_id); continue; } else if (sate_id >= 65 && sate_id <= 96) { // GL r->sv_used_in_fix[sate_id] = 1; } else if (sate_id >= 201 && sate_id <= 232) { // BD r->sv_used_in_fix[sate_id] = 1; } else { VER("GSA: invalid sentence, ignore!!"); break; } DBG("GSA:sv_used_in_fix[%d] = %d\n", svid, r->sv_used_in_fix[svid]); */ } } } else if (!memcmp(tok.p, "RMC", 3)) { 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); VER("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); r->location_can_report = 1; } r->sv_status_can_report = 1; } else if (!memcmp(tok.p, "GSV", 3)) { Token tok_num = nmea_tokenizer_get(tzer, 1); // number of messages Token tok_seq = nmea_tokenizer_get(tzer, 2); // sequence number Token tok_cnt = nmea_tokenizer_get(tzer, 3); // Satellites in view int num = str2int(tok_num.p, tok_num.end); int seq = str2int(tok_seq.p, tok_seq.end); int cnt = str2int(tok_cnt.p, tok_cnt.end); int sv_base = (seq - 1)*NMEA_MAX_SV_INFO; int sv_num = cnt - sv_base; int idx, base = 4, base_idx; if (sv_num > NMEA_MAX_SV_INFO) sv_num = NMEA_MAX_SV_INFO; if (seq == 1) /*if sequence number is 1, a new set of GSV will be parsed*/ r->sv_count = 0; for (idx = 0; idx < sv_num; idx++) { base_idx = base*(idx+1); Token tok_id = nmea_tokenizer_get(tzer, base_idx+0); int prn = str2int(tok_id.p, tok_id.end); int svid = get_svid(prn, sv_type); /* if (sv_type == GNSS_CONSTELLATION_BEIDOU) { sv_id += 200; DBG("It is BDS SV: %d", sv_id); } else if (sv_type == GNSS_CONSTELLATION_GLONASS) { sv_id += 64; DBG("It is GLN SV: %d", sv_id); } */ Token tok_ele = nmea_tokenizer_get(tzer, base_idx+1); Token tok_azi = nmea_tokenizer_get(tzer, base_idx+2); Token tok_snr = nmea_tokenizer_get(tzer, base_idx+3); nmea_reader_update_sv_status_gnss(r, sv_base+idx, svid, tok_ele, tok_azi, tok_snr); } if (seq == num) { if (r->sv_count <= cnt) { DBG("r->sv_count = %d", r->sv_count); r->sv_status_gnss.num_svs += r->sv_count; } else { ERR("GPGSV incomplete (%d/%d), ignored!", r->sv_count, cnt); r->sv_count = r->sv_status_gnss.num_svs = 0; } } } // Add for Accuracy else if (!memcmp(tok.p, "ACCURACY", 8)) { if ((r->fix_mode == 3) || (r->fix_mode == 2)) { Token tok_accuracy = nmea_tokenizer_get(tzer, 1); nmea_reader_update_accuracy(r, tok_accuracy); DBG("GPS get accuracy from driver:%f\n", r->fix.accuracy); } else { DBG("GPS get accuracy failed, fix mode:%d\n", r->fix_mode); } } else { tok.p -= 2; VER("unknown sentence '%.*s", tok.end-tok.p, tok.p); } //if (!LOC_FIXED(r)) { // VER("Location is not fixed, ignored callback\n"); //} else if (r->fix.flags != 0 && gps_nmea_end_tag) { if (r->location_can_report) { #if NEMA_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); DBG("GPS accuracy=%g\n", r->fix.accuracy); } gmtime_r((time_t*) &r->fix.timestamp, &utc); p += snprintf(p, end-p, " time=%s", asctime(&utc)); VER(temp); #endif r->fix.flags = GPS_LOCATION_HAS_LAT_LONG | GPS_LOCATION_HAS_ALTITUDE | GPS_LOCATION_HAS_SPEED | GPS_LOCATION_HAS_BEARING | GPS_LOCATION_HAS_ACCURACY; callback_backup.location_cb(&r->fix); r->fix.flags = 0; r->location_can_report = 0; } DBG("r->sv_status_gnss.num_svs = %d, gps_nmea_end_tag = %d, sv_status_can_report = %d", r->sv_status_gnss.num_svs, gps_nmea_end_tag, r->sv_status_can_report); if (r->sv_status_can_report) { r->sv_status_can_report = 0; if (r->sv_status_gnss.num_svs != 0) { r->sv_status_gnss.size = sizeof(GnssSvStatus); DBG("Report sv status"); callback_backup.gnss_sv_status_cb(&r->sv_status_gnss); r->sv_count = r->sv_status_gnss.num_svs = 0; memset(r->sv_used_in_fix, 0, 256*sizeof(int)); } } } static void nmea_reader_addc(NmeaReader* const r, int c) { if (r->overflow) { r->overflow = (c != '\n'); return; } if ((r->pos >= (int) sizeof(r->in)-1 ) || (r->pos < 0)) { r->overflow = 1; r->pos = 0; DBG("nmea sentence overflow\n"); return; } r->in[r->pos] = (char)c; r->pos += 1; if (c == '\n') { r->in[r->pos + 1] = 0; // null terminate the string nmea_reader_parse(r); DBG("start nmea_cb\n"); callback_backup.nmea_cb(r->fix.timestamp, r->in, r->pos+1); r->pos = 0; } } static void gps_state_done(GpsState* s) { char cmd = CMD_QUIT; write(s->control[0], &cmd, 1); close(s->control[0]); s->control[0] = -1; close(s->control[1]); s->control[1] = -1; close(s->fd); s->fd = -1; close(s->sockfd); s->sockfd = -1; close(s->epoll_hd); s->epoll_hd = -1; s->init = 0; return; } 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) ERR("%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) ERR("%s: could not send CMD_STOP command: ret=%d: %s", __FUNCTION__, ret, strerror(errno)); } static void gps_state_restart(GpsState* s) { char cmd = CMD_RESTART; int ret; do { ret = write(s->control[0], &cmd, 1); } while (ret < 0 && errno == EINTR); if (ret != 1) ERR("%s: could not send CMD_RESTART 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); if (ret < 0) ERR("epoll ctl error, error num is %d\n, message is %s\n", errno, strerror(errno)); 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; } /*for reducing the function call to get data from kernel*/ static char buff[2048]; /* this is the main thread, it waits for commands from gps_state_start/stop and, * when started, messages from the GPS daemon. these are simple NMEA sentences * that must be parsed to be converted into GPS fixes sent to the framework */ void gps_state_thread(void* arg) { static float count = 0; GpsState* state = (GpsState*) arg; // state->thread_exit_flag=0; NmeaReader reader[1]; int gps_fd = state->fd; int control_fd = state->control[1]; int atc_fd = state->sockfd; int epoll_fd = state->epoll_hd; int test_started = 0; nmea_reader_init(reader); // register control file descriptors for polling if (epoll_register(epoll_fd, control_fd) < 0) ERR("epoll register control_fd error, error num is %d\n, message is %s\n", errno, strerror(errno)); if (epoll_register(epoll_fd, gps_fd) < 0) ERR("epoll register gps_fd error, error num is %d\n, message is %s\n", errno, strerror(errno)); if (epoll_register(epoll_fd, atc_fd) < 0) ERR("epoll register atc_fd error, error num is %d\n, message is %s\n", errno, strerror(errno)); DBG("gps thread running: PPID[%d], PID[%d]\n", getppid(), getpid()); DBG("HAL thread is ready, realease lock, and CMD_START can be handled\n"); // now loop for (;;) { struct epoll_event events[4]; int ne, nevents; nevents = epoll_wait(epoll_fd, events, 4, -1); if (nevents < 0) { if (errno != EINTR) ERR("epoll_wait() unexpected error: %s", strerror(errno)); continue; } VER("gps thread received %d events", nevents); for (ne = 0; ne < nevents; ne++) { if ((events[ne].events & (EPOLLERR|EPOLLHUP)) != 0) { ERR("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; DBG("gps control fd event"); do { ret = read(fd, &cmd, 1); } while (ret < 0 && errno == EINTR); if (cmd == CMD_QUIT) { DBG("gps thread quitting on demand"); goto Exit; } else if (cmd == CMD_START) { if (!started) { DBG("gps thread starting location_cb=%p", &callback_backup); started = 1; nmea_reader_set_callback(reader, &state->callbacks); } } else if (cmd == CMD_STOP) { if (started) { DBG("gps thread stopping"); started = 0; nmea_reader_set_callback(reader, NULL); DBG("CMD_STOP has been receiving from HAL thread, release lock so can handle CLEAN_UP\n"); } } else if (cmd == CMD_RESTART) { reader->fix_mode = 0; } } else if (fd == gps_fd) { if (!flag_unlock) { flag_unlock = 1; DBG("got first NMEA sentence, release lock to set state ENGINE ON, SESSION BEGIN"); } VER("gps fd event"); if (report_time_interval > ++count) { DBG("[trace]count is %f\n", count); int ret = read(fd, buff, sizeof(buff)); continue; } count = 0; for (;;) { int nn, ret; ret = read(fd, buff, sizeof(buff)); if (ret < 0) { if (errno == EINTR) continue; if (errno != EWOULDBLOCK) ERR("error while reading from gps daemon socket: %s: %p", strerror(errno), buff); break; } DBG("received %d bytes:\n", ret); gps_nmea_end_tag = 0; for (nn = 0; nn < ret; nn++) { if (nn == (ret-1)) gps_nmea_end_tag = 1; nmea_reader_addc(reader, buff[nn]); } } VER("gps fd event end"); } else { ERR("epoll_wait() returned unkown fd %d ?", fd); } } } } Exit: DBG("HAL thread is exiting, release lock to clean resources\n"); return; } static void gps_state_init(GpsState* state) { state->control[0] = -1; state->control[1] = -1; state->fd = -1; DBG("Try open gps hardware: %s", GPS_CHANNEL_NAME); state->fd = open(GPS_CHANNEL_NAME, O_RDONLY); // support poll behavior //state->fd = open(GPS_CHANNEL_NAME, O_RDWR | O_NONBLOCK | O_NOCTTY); int epoll_fd = epoll_create(2); state->epoll_hd = epoll_fd; if (state->fd < 0) { ERR("no gps hardware detected: %s:%d, %s", GPS_CHANNEL_NAME, state->fd, strerror(errno)); return; } struct termios cfg; tcgetattr(state->fd, &cfg); cfmakeraw(&cfg); cfsetispeed(&cfg, TTY_BAUD); cfsetospeed(&cfg, TTY_BAUD); tcsetattr(state->fd, TCSANOW, &cfg); DBG("Open gps hardware succeed: %s", GPS_CHANNEL_NAME); if (socketpair(AF_LOCAL, SOCK_STREAM, 0, state->control) < 0) { ERR("could not create thread control socket pair: %s", strerror(errno)); goto Fail; } state->thread = callback_backup.create_thread_cb(gps_native_thread, gps_state_thread, state); if (!state->thread) { ERR("could not create gps thread: %s", strerror(errno)); goto Fail; } DBG("gps state initialized, the thread is %d\n", (int)state->thread); return; Fail: gps_state_done(state); } /*****************************************************************/ /*****************************************************************/ /***** *****/ /***** I N T E R F A C E *****/ /***** *****/ /*****************************************************************/ /*****************************************************************/ static int zkw_gps_init(GpsCallbacks* callbacks) { GpsState* s = _gps_state; int get_time = 20; int res = 0; if (s->init) return 0; s->callbacks = *callbacks; callback_backup = *callbacks; gps_state_init(s); s->init = 1; if (s->fd < 0) { return -1; } DBG("Set GPS_CAPABILITY_SCHEDULING \n"); callback_backup.set_capabilities_cb(GPS_CAPABILITY_SCHEDULING); return 0; } static void zkw_gps_cleanup(void) { GpsState* s = _gps_state; if (s->init) gps_state_done(s); DBG("zkw_gps_cleanup done"); // return NULL; } int zkw_gps_start() { GpsState* s = _gps_state; int err; int count=0; if (!s->init) { ERR("%s: called with uninitialized state !!", __FUNCTION__); return -1; } DBG("HAL thread has initialiazed\n"); gps_state_start(s); gps_status.status = GPS_STATUS_ENGINE_ON; DBG("gps_status = GPS_STATUS_ENGINE_ON\n"); callback_backup.status_cb(&gps_status); gps_status.status = GPS_STATUS_SESSION_BEGIN; DBG("gps_status = GPS_STATUS_SESSION_BEGIN\n"); callback_backup.status_cb(&gps_status); callback_backup.acquire_wakelock_cb(); s->start_flag = 1; DBG("s->start_flag = 1\n"); return 0; } int zkw_gps_stop() { GpsState* s = _gps_state; int err; int count=0; if (!s->init) { ERR("%s: called with uninitialized state !!", __FUNCTION__); return -1; } gps_state_stop(s); gps_status.status = GPS_STATUS_SESSION_END; callback_backup.status_cb(&gps_status); DBG("gps_status = GPS_STATUS_SESSION_END\n"); gps_status.status = GPS_STATUS_ENGINE_OFF; DBG("gps_status = GPS_STATUS_ENGINE_OFF\n"); callback_backup.status_cb(&gps_status); callback_backup.release_wakelock_cb(); s->start_flag = 0; DBG("s->start_flag = 0\n"); return 0; } static int zkw_gps_inject_time(GpsUtcTime time, int64_t timeReference, int uncertainty) { return 0; } static int zkw_gps_inject_location(double latitude, double longitude, float accuracy) { return 0; } static void zkw_gps_delete_aiding_data(GpsAidingData flags) { return; } static int zkw_gps_set_position_mode(GpsPositionMode mode, GpsPositionRecurrence recurrence, uint32_t min_interval, uint32_t preferred_accuracy, uint32_t preferred_time) { // FIXME - support fix_frequency return 0; } static const void* zkw_gps_get_extension(const char* name) { DBG("zkw_gps_get_extension name=[%s]\n", name); /* TRC(); if (strncmp(name, "agps", strlen(name)) == 0) { return &zkwAGpsInterface; } if (strncmp(name, "gps-ni", strlen(name)) == 0) { return &zkwGpsNiInterface; } if (strncmp(name, "agps_ril", strlen(name)) == 0) { return &zkwAGpsRilInterface; } if (strncmp(name, "supl-certificate", strlen(name)) == 0) { return &zkwSuplCertificateInterface; } if (strncmp(name, GPS_MEASUREMENT_INTERFACE, strlen(name)) == 0) { return &zkwGpsMeasurementInterface; } if (strncmp(name, GPS_NAVIGATION_MESSAGE_INTERFACE, strlen(name)) == 0) { return &zkwGpsNavigationMessageInterface; }*/ return NULL; } static const GpsInterface zkwGpsInterface = { sizeof(GpsInterface), zkw_gps_init, zkw_gps_start, zkw_gps_stop, zkw_gps_cleanup, zkw_gps_inject_time, zkw_gps_inject_location, zkw_gps_delete_aiding_data, zkw_gps_set_position_mode, zkw_gps_get_extension, }; const GpsInterface* gps__get_gps_interface(struct gps_device_t* dev) { DBG("gps__get_gps_interface HAL\n"); return &zkwGpsInterface; } static int open_gps(const struct hw_module_t* module, char const* name, struct hw_device_t** device) { DBG("open_gps HAL 1\n"); struct gps_device_t *dev = malloc(sizeof(struct gps_device_t)); if (dev != NULL) { 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; DBG("open_gps HAL 2\n"); dev->get_gps_interface = gps__get_gps_interface; DBG("open_gps HAL 3\n"); *device = (struct hw_device_t*)dev; } else { DBG("malloc failed dev = NULL!\n"); } 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 = "Hardware GPS Module", .author = "", .methods = &gps_module_methods, };
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编译文件Android.mk参考：
# Copyright (C) 2008 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. LOCAL_PATH := $(call my-dir) # HAL module implemenation, not prelinked and stored in # hw/<LIGHTS_HARDWARE_MODULE_ID>.default.so include $(CLEAR_VARS) LOCAL_PROPRIETARY_MODULE := true LOCAL_MODULE_TAGS:=optional LOCAL_PRELINK_MODULE := false #LOCAL_MULTILIB := 32 LOCAL_MODULE := gps.default LOCAL_MODULE_RELATIVE_PATH := hw LOCAL_SRC_FILES := gps_zkw.c #LOCAL_CFLAGS := -Wall -fvisibility=default -fsigned-char LOCAL_CFLAGS := -Wno-unused-parameter -Wno-unused-variable -Wno-format -Wno-unused-function LOCAL_SHARED_LIBRARIES := liblog libc libcutils libm libhardware libutils include $(BUILD_SHARED_LIBRARY)
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