diff options
| -rw-r--r-- | utils/loc_nmea.cpp | 66 |
1 files changed, 34 insertions, 32 deletions
diff --git a/utils/loc_nmea.cpp b/utils/loc_nmea.cpp index dd6b128..558dc65 100644 --- a/utils/loc_nmea.cpp +++ b/utils/loc_nmea.cpp @@ -73,8 +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 @@ -92,6 +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) { @@ -498,7 +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; @@ -509,7 +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; @@ -522,7 +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; @@ -535,7 +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; @@ -548,7 +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; @@ -559,7 +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; @@ -931,13 +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 { @@ -995,20 +1005,9 @@ void loc_nmea_generate_sv(const GnssSvNotification &svNotify, char sentence[NMEA_SENTENCE_MAX_LENGTH] = {0}; int svCount = svNotify.count; 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) { @@ -1078,35 +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); } |