diff options
| -rw-r--r-- | core/LocAdapterBase.cpp | 7 | ||||
| -rw-r--r-- | core/LocAdapterBase.h | 2 | ||||
| -rw-r--r-- | core/LocApiBase.cpp | 16 | ||||
| -rw-r--r-- | core/LocApiBase.h | 2 | ||||
| -rw-r--r-- | core/UlpProxyBase.h | 12 | ||||
| -rw-r--r-- | core/gps_extended_c.h | 603 | ||||
| -rw-r--r-- | etc/gps.conf | 44 | ||||
| -rw-r--r-- | loc_api/libloc_api_50001/LocEngAdapter.cpp | 17 | ||||
| -rw-r--r-- | loc_api/libloc_api_50001/LocEngAdapter.h | 2 | ||||
| -rw-r--r-- | loc_api/libloc_api_50001/loc.cpp | 13 | ||||
| -rw-r--r-- | loc_api/libloc_api_50001/loc_eng.cpp | 4 | ||||
| -rw-r--r-- | loc_api/libloc_api_50001/loc_eng.h | 1 | ||||
| -rw-r--r-- | utils/Android.mk | 3 | ||||
| -rw-r--r-- | utils/LocThread.cpp | 5 |
14 files changed, 728 insertions, 3 deletions
diff --git a/core/LocAdapterBase.cpp b/core/LocAdapterBase.cpp index e9bec95..42a7b9e 100644 --- a/core/LocAdapterBase.cpp +++ b/core/LocAdapterBase.cpp @@ -85,6 +85,13 @@ void LocAdapterBase:: void* svExt) DEFAULT_IMPL() +void LocAdapterBase:: + reportSvMeasurement(GnssSvMeasurementSet &svMeasurementSet) +DEFAULT_IMPL() + +void LocAdapterBase:: + reportSvPolynomial(GnssSvPolynomial &svPolynomial) +DEFAULT_IMPL() void LocAdapterBase:: reportStatus(GpsStatusValue status) diff --git a/core/LocAdapterBase.h b/core/LocAdapterBase.h index 4ed1704..a4ff7f9 100644 --- a/core/LocAdapterBase.h +++ b/core/LocAdapterBase.h @@ -101,6 +101,8 @@ public: virtual void reportSv(GnssSvStatus &svStatus, GpsLocationExtended &locationExtended, void* svExt); + virtual void reportSvMeasurement(GnssSvMeasurementSet &svMeasurementSet); + virtual void reportSvPolynomial(GnssSvPolynomial &svPolynomial); virtual void reportStatus(GpsStatusValue status); virtual void reportNmea(const char* nmea, int length); virtual bool reportXtraServer(const char* url1, const char* url2, diff --git a/core/LocApiBase.cpp b/core/LocApiBase.cpp index 7ef5e68..98d1a44 100644 --- a/core/LocApiBase.cpp +++ b/core/LocApiBase.cpp @@ -279,6 +279,22 @@ void LocApiBase::reportSv(GnssSvStatus &svStatus, ); } +void LocApiBase::reportSvMeasurement(GnssSvMeasurementSet &svMeasurementSet) +{ + // loop through adapters, and deliver to all adapters. + TO_ALL_LOCADAPTERS( + mLocAdapters[i]->reportSvMeasurement(svMeasurementSet) + ); +} + +void LocApiBase::reportSvPolynomial(GnssSvPolynomial &svPolynomial) +{ + // loop through adapters, and deliver to all adapters. + TO_ALL_LOCADAPTERS( + mLocAdapters[i]->reportSvPolynomial(svPolynomial) + ); +} + void LocApiBase::reportStatus(GpsStatusValue status) { // loop through adapters, and deliver to all adapters. diff --git a/core/LocApiBase.h b/core/LocApiBase.h index 1b34e8e..894be81 100644 --- a/core/LocApiBase.h +++ b/core/LocApiBase.h @@ -116,6 +116,8 @@ public: void reportSv(GnssSvStatus &svStatus, GpsLocationExtended &locationExtended, void* svExt); + void reportSvMeasurement(GnssSvMeasurementSet &svMeasurementSet); + void reportSvPolynomial(GnssSvPolynomial &svPolynomial); void reportStatus(GpsStatusValue status); void reportNmea(const char* nmea, int length); void reportXtraServer(const char* url1, const char* url2, diff --git a/core/UlpProxyBase.h b/core/UlpProxyBase.h index 98d81dd..3ecdf03 100644 --- a/core/UlpProxyBase.h +++ b/core/UlpProxyBase.h @@ -71,6 +71,14 @@ public: (void)svExt; return false; } + inline virtual bool reportSvMeasurement(GnssSvMeasurementSet &svMeasurementSet) { + return false; + } + + inline virtual bool reportSvPolynomial(GnssSvPolynomial &svPolynomial) + { + return false; + } inline virtual bool reportStatus(GpsStatusValue status) { (void)status; @@ -97,6 +105,10 @@ public: (void)number_of_locations; return false; } + inline virtual bool reportDeleteAidingData(GpsAidingData aidingData) + { + return false; + } }; } // namespace loc_core diff --git a/core/gps_extended_c.h b/core/gps_extended_c.h index 1a24e13..e9c5b23 100644 --- a/core/gps_extended_c.h +++ b/core/gps_extended_c.h @@ -34,6 +34,7 @@ #include <stdlib.h> #include <string.h> #include <hardware/gps.h> +#include <time.h> /** * @file @@ -73,6 +74,8 @@ extern "C" { #define ULP_LOCATION_IS_FROM_NLP 0x0020 /** Position is from PIP */ #define ULP_LOCATION_IS_FROM_PIP 0x0040 +/** Position is from external DR solution*/ +#define ULP_LOCATION_IS_FROM_EXT_DR 0X0080 #define ULP_MIN_INTERVAL_INVALID 0xffffffff @@ -254,6 +257,13 @@ typedef enum { LOC_RELIABILITY_HIGH = 4 }LocReliability; +typedef struct { + struct timespec apTimeStamp; + /*boottime received from pps-ktimer*/ + float apTimeStampUncertaintyMs; + /* timestamp uncertainty in milli seconds */ +}Gnss_ApTimeStampStructType; + /** Represents gps location extended. */ typedef struct { /** set to sizeof(GpsLocationExtended) */ @@ -286,6 +296,8 @@ typedef struct { float horUncEllipseSemiMinor; /* Elliptical Horizontal Uncertainty Azimuth */ float horUncEllipseOrientAzimuth; + + Gnss_ApTimeStampStructType timeStamp; } GpsLocationExtended; /** Represents SV status. */ @@ -436,6 +448,8 @@ enum loc_api_adapter_event_index { LOC_API_ADAPTER_BATCH_FULL, // Batching on full LOC_API_ADAPTER_BATCHED_POSITION_REPORT, // Batching on fix LOC_API_ADAPTER_BATCHED_GENFENCE_BREACH_REPORT, // + LOC_API_ADAPTER_GNSS_MEASUREMENT_REPORT, //GNSS Measurement Report + LOC_API_ADAPTER_GNSS_SV_POLYNOMIAL_REPORT, //GNSS SV Polynomial Report LOC_API_ADAPTER_GDT_UPLOAD_BEGIN_REQ, // GDT upload start request LOC_API_ADAPTER_GDT_UPLOAD_END_REQ, // GDT upload end request LOC_API_ADAPTER_GNSS_MEASUREMENT, // GNSS Measurement report @@ -466,6 +480,8 @@ enum loc_api_adapter_event_index { #define LOC_API_ADAPTER_BIT_REQUEST_WIFI_AP_DATA (1<<LOC_API_ADAPTER_REQUEST_WIFI_AP_DATA) #define LOC_API_ADAPTER_BIT_BATCH_FULL (1<<LOC_API_ADAPTER_BATCH_FULL) #define LOC_API_ADAPTER_BIT_BATCHED_POSITION_REPORT (1<<LOC_API_ADAPTER_BATCHED_POSITION_REPORT) +#define LOC_API_ADAPTER_BIT_GNSS_MEASUREMENT_REPORT (1<<LOC_API_ADAPTER_GNSS_MEASUREMENT_REPORT) +#define LOC_API_ADAPTER_BIT_GNSS_SV_POLYNOMIAL_REPORT (1<<LOC_API_ADAPTER_GNSS_SV_POLYNOMIAL_REPORT) #define LOC_API_ADAPTER_BIT_GDT_UPLOAD_BEGIN_REQ (1<<LOC_API_ADAPTER_GDT_UPLOAD_BEGIN_REQ) #define LOC_API_ADAPTER_BIT_GDT_UPLOAD_END_REQ (1<<LOC_API_ADAPTER_GDT_UPLOAD_END_REQ) #define LOC_API_ADAPTER_BIT_GNSS_MEASUREMENT (1<<LOC_API_ADAPTER_GNSS_MEASUREMENT) @@ -493,6 +509,593 @@ typedef uint32_t LOC_GPS_LOCK_MASK; #define isGpsLockMT(lock) ((lock) & ((LOC_GPS_LOCK_MASK)2)) #define isGpsLockAll(lock) (((lock) & ((LOC_GPS_LOCK_MASK)3)) == 3) +/*++ *********************************************** +** Satellite Measurement and Satellite Polynomial +** Structure definitions +** *********************************************** +--*/ +#define GNSS_SV_POLY_VELOCITY_COEF_MAX_SIZE 12 +#define GNSS_SV_POLY_XYZ_0_TH_ORDER_COEFF_MAX_SIZE 3 +#define GNSS_SV_POLY_XYZ_N_TH_ORDER_COEFF_MAX_SIZE 9 +#define GNSS_SV_POLY_SV_CLKBIAS_COEFF_MAX_SIZE 4 +#define GNSS_LOC_SV_MEAS_LIST_MAX_SIZE 16 + +enum ulp_gnss_sv_measurement_valid_flags{ + + ULP_GNSS_SV_MEAS_GPS_TIME = 0, + ULP_GNSS_SV_MEAS_PSUEDO_RANGE, + ULP_GNSS_SV_MEAS_MS_IN_WEEK, + ULP_GNSS_SV_MEAS_SUB_MSEC, + ULP_GNSS_SV_MEAS_CARRIER_PHASE, + ULP_GNSS_SV_MEAS_DOPPLER_SHIFT, + ULP_GNSS_SV_MEAS_CNO, + ULP_GNSS_SV_MEAS_LOSS_OF_LOCK, + + ULP_GNSS_SV_MEAS_MAX_VALID_FLAGS +}; + +#define ULP_GNSS_SV_MEAS_BIT_GPS_TIME (1<<ULP_GNSS_SV_MEAS_GPS_TIME) +#define ULP_GNSS_SV_MEAS_BIT_PSUEDO_RANGE (1<<ULP_GNSS_SV_MEAS_PSUEDO_RANGE) +#define ULP_GNSS_SV_MEAS_BIT_MS_IN_WEEK (1<<ULP_GNSS_SV_MEAS_MS_IN_WEEK) +#define ULP_GNSS_SV_MEAS_BIT_SUB_MSEC (1<<ULP_GNSS_SV_MEAS_SUB_MSEC) +#define ULP_GNSS_SV_MEAS_BIT_CARRIER_PHASE (1<<ULP_GNSS_SV_MEAS_CARRIER_PHASE) +#define ULP_GNSS_SV_MEAS_BIT_DOPPLER_SHIFT (1<<ULP_GNSS_SV_MEAS_DOPPLER_SHIFT) +#define ULP_GNSS_SV_MEAS_BIT_CNO (1<<ULP_GNSS_SV_MEAS_CNO) +#define ULP_GNSS_SV_MEAS_BIT_LOSS_OF_LOCK (1<<ULP_GNSS_SV_MEAS_LOSS_OF_LOCK) + +enum ulp_gnss_sv_poly_valid_flags{ + + ULP_GNSS_SV_POLY_GLO_FREQ = 0, + ULP_GNSS_SV_POLY_T0, + ULP_GNSS_SV_POLY_IODE, + ULP_GNSS_SV_POLY_FLAG, + ULP_GNSS_SV_POLY_POLYCOEFF_XYZ0, + ULP_GNSS_SV_POLY_POLYCOEFF_XYZN, + ULP_GNSS_SV_POLY_POLYCOEFF_OTHER, + ULP_GNSS_SV_POLY_SV_POSUNC, + ULP_GNSS_SV_POLY_IONODELAY, + ULP_GNSS_SV_POLY_IONODOT, + ULP_GNSS_SV_POLY_SBAS_IONODELAY, + ULP_GNSS_SV_POLY_SBAS_IONODOT, + ULP_GNSS_SV_POLY_TROPODELAY, + ULP_GNSS_SV_POLY_ELEVATION, + ULP_GNSS_SV_POLY_ELEVATIONDOT, + ULP_GNSS_SV_POLY_ELEVATIONUNC, + ULP_GNSS_SV_POLY_VELO_COEFF, + ULP_GNSS_SV_POLY_ENHANCED_IOD, + + ULP_GNSS_SV_POLY_VALID_FLAGS + +}; + +#define ULP_GNSS_SV_POLY_BIT_GLO_FREQ (1<<ULP_GNSS_SV_POLY_GLO_FREQ) +#define ULP_GNSS_SV_POLY_BIT_T0 (1<<ULP_GNSS_SV_POLY_T0) +#define ULP_GNSS_SV_POLY_BIT_IODE (1<<ULP_GNSS_SV_POLY_IODE) +#define ULP_GNSS_SV_POLY_BIT_FLAG (1<<ULP_GNSS_SV_POLY_FLAG) +#define ULP_GNSS_SV_POLY_BIT_POLYCOEFF_XYZ0 (1<<ULP_GNSS_SV_POLY_POLYCOEFF_XYZ0) +#define ULP_GNSS_SV_POLY_BIT_POLYCOEFF_XYZN (1<<ULP_GNSS_SV_POLY_POLYCOEFF_XYZN) +#define ULP_GNSS_SV_POLY_BIT_POLYCOEFF_OTHER (1<<ULP_GNSS_SV_POLY_POLYCOEFF_OTHER) +#define ULP_GNSS_SV_POLY_BIT_SV_POSUNC (1<<ULP_GNSS_SV_POLY_SV_POSUNC) +#define ULP_GNSS_SV_POLY_BIT_IONODELAY (1<<ULP_GNSS_SV_POLY_IONODELAY) +#define ULP_GNSS_SV_POLY_BIT_IONODOT (1<<ULP_GNSS_SV_POLY_IONODOT) +#define ULP_GNSS_SV_POLY_BIT_SBAS_IONODELAY (1<<ULP_GNSS_SV_POLY_SBAS_IONODELAY) +#define ULP_GNSS_SV_POLY_BIT_SBAS_IONODOT (1<<ULP_GNSS_SV_POLY_SBAS_IONODOT) +#define ULP_GNSS_SV_POLY_BIT_TROPODELAY (1<<ULP_GNSS_SV_POLY_TROPODELAY) +#define ULP_GNSS_SV_POLY_BIT_ELEVATION (1<<ULP_GNSS_SV_POLY_ELEVATION) +#define ULP_GNSS_SV_POLY_BIT_ELEVATIONDOT (1<<ULP_GNSS_SV_POLY_ELEVATIONDOT) +#define ULP_GNSS_SV_POLY_BIT_ELEVATIONUNC (1<<ULP_GNSS_SV_POLY_ELEVATIONUNC) +#define ULP_GNSS_SV_POLY_BIT_VELO_COEFF (1<<ULP_GNSS_SV_POLY_VELO_COEFF) +#define ULP_GNSS_SV_POLY_BIT_ENHANCED_IOD (1<<ULP_GNSS_SV_POLY_ENHANCED_IOD) + + +typedef enum +{ + GNSS_LOC_SV_SYSTEM_GPS = 1, + /**< GPS satellite. */ + GNSS_LOC_SV_SYSTEM_GALILEO = 2, + /**< GALILEO satellite. */ + GNSS_LOC_SV_SYSTEM_SBAS = 3, + /**< SBAS satellite. */ + GNSS_LOC_SV_SYSTEM_COMPASS = 4, + /**< COMPASS satellite. */ + GNSS_LOC_SV_SYSTEM_GLONASS = 5, + /**< GLONASS satellite. */ + GNSS_LOC_SV_SYSTEM_BDS = 6 + /**< BDS satellite. */ +} Gnss_LocSvSystemEnumType; + +typedef enum +{ + GNSS_LOC_FREQ_SOURCE_INVALID = 0, + /**< Source of the frequency is invalid */ + GNSS_LOC_FREQ_SOURCE_EXTERNAL = 1, + /**< Source of the frequency is from external injection */ + GNSS_LOC_FREQ_SOURCE_PE_CLK_REPORT = 2, + /**< Source of the frequency is from Navigation engine */ + GNSS_LOC_FREQ_SOURCE_UNKNOWN = 3 + /**< Source of the frequency is unknown */ +} Gnss_LocSourceofFreqEnumType; + +typedef struct +{ + size_t size; + float clockDrift; + /**< Receiver clock Drift \n + - Units: meter per sec \n + */ + float clockDriftUnc; + /**< Receiver clock Drift uncertainty \n + - Units: meter per sec \n + */ + Gnss_LocSourceofFreqEnumType sourceOfFreq; +}Gnss_LocRcvrClockFrequencyInfoStructType; + +typedef struct +{ + size_t size; + uint8_t leapSec; + /**< GPS time leap second delta to UTC time \n + - Units: sec \n + */ + uint8_t leapSecUnc; + /**< Uncertainty for GPS leap second \n + - Units: sec \n + */ +}Gnss_LeapSecondInfoStructType; + +typedef enum +{ + GNSS_LOC_SYS_TIME_BIAS_VALID = 0x01, + /**< System time bias valid */ + GNSS_LOC_SYS_TIME_BIAS_UNC_VALID = 0x02, + /**< System time bias uncertainty valid */ +}Gnss_LocInterSystemBiasValidMaskType; + +typedef struct +{ + size_t size; + uint32_t validMask; + /* Validity mask as per Gnss_LocInterSystemBiasValidMaskType */ + + float timeBias; + /**< System-1 to System-2 Time Bias \n + - Units: msec \n + */ + float timeBiasUnc; + /**< System-1 to System-2 Time Bias uncertainty \n + - Units: msec \n + */ +}Gnss_InterSystemBiasStructType; + + +typedef struct +{ + size_t size; + uint16_t systemWeek; + /**< System week number for GPS, BDS and GAL satellite systems. \n + Set to 65535 when invalid or not available. \n + Not valid for GLONASS system. \n + */ + + uint32_t systemMsec; + /**< System time msec. Time of Week for GPS, BDS, GAL and + Time of Day for GLONASS. + - Units: msec \n + */ + float systemClkTimeBias; + /**< System clock time bias \n + - Units: msec \n + System time = systemMsec - systemClkTimeBias \n + */ + float systemClkTimeUncMs; + /**< Single sided maximum time bias uncertainty \n + - Units: msec \n + */ +}Gnss_LocSystemTimeStructType; + +typedef struct { + + size_t size; + uint8_t gloFourYear; + /**< GLONASS four year number from 1996. Refer to GLONASS ICD.\n + Applicable only for GLONASS and shall be ignored for other constellations. \n + If unknown shall be set to 255 + */ + + uint16_t gloDays; + /**< GLONASS day number in four years. Refer to GLONASS ICD. + Applicable only for GLONASS and shall be ignored for other constellations. \n + If unknown shall be set to 65535 + */ + + uint32_t gloMsec; + /**< GLONASS time of day in msec. Refer to GLONASS ICD. + - Units: msec \n + */ + + float gloClkTimeBias; + /**< System clock time bias (sub-millisecond) \n + - Units: msec \n + System time = systemMsec - systemClkTimeBias \n + */ + + float gloClkTimeUncMs; + /**< Single sided maximum time bias uncertainty \n + - Units: msec \n + */ +}Gnss_LocGloTimeStructType; /* Type */ + +typedef struct { + + size_t size; + uint32_t refFCount; + /**< Receiver frame counter value at reference tick */ + + uint8_t systemRtc_valid; + /**< Validity indicator for System RTC */ + + uint64_t systemRtcMs; + /**< Platform system RTC value \n + - Units: msec \n + */ + + uint32_t sourceOfTime; + /**< Source of time information */ + +}Gnss_LocGnssTimeExtStructType; + + + +typedef enum +{ + GNSS_LOC_MEAS_STATUS_NULL = 0x00000000, + /**< No information state */ + GNSS_LOC_MEAS_STATUS_SM_VALID = 0x00000001, + /**< Code phase is known */ + GNSS_LOC_MEAS_STATUS_SB_VALID = 0x00000002, + /**< Sub-bit time is known */ + GNSS_LOC_MEAS_STATUS_MS_VALID = 0x00000004, + /**< Satellite time is known */ + GNSS_LOC_MEAS_STATUS_BE_CONFIRM = 0x00000008, + /**< Bit edge is confirmed from signal */ + GNSS_LOC_MEAS_STATUS_VELOCITY_VALID = 0x00000010, + /**< Satellite Doppler measured */ + GNSS_LOC_MEAS_STATUS_VELOCITY_FINE = 0x00000020, + /**< TRUE: Fine Doppler measured, FALSE: Coarse Doppler measured */ + GNSS_LOC_MEAS_STATUS_FROM_RNG_DIFF = 0x00000200, + /**< Range update from Satellite differences */ + GNSS_LOC_MEAS_STATUS_FROM_VE_DIFF = 0x00000400, + /**< Doppler update from Satellite differences */ + GNSS_LOC_MEAS_STATUS_DONT_USE_X = 0x00000800, + /**< Don't use measurement if bit is set */ + GNSS_LOC_MEAS_STATUS_DONT_USE_M = 0x000001000, + /**< Don't use measurement if bit is set */ + GNSS_LOC_MEAS_STATUS_DONT_USE_D = 0x000002000, + /**< Don't use measurement if bit is set */ + GNSS_LOC_MEAS_STATUS_DONT_USE_S = 0x000004000, + /**< Don't use measurement if bit is set */ + GNSS_LOC_MEAS_STATUS_DONT_USE_P = 0x000008000 + /**< Don't use measurement if bit is set */ +}Gnss_LocSvMeasStatusMaskType; + +typedef struct +{ + size_t size; + uint32_t svMs; + /**< Satellite time milisecond.\n + For GPS, BDS, GAL range of 0 thru (604800000-1) \n + For GLONASS range of 0 thru (86400000-1) \n + Valid when PD_LOC_MEAS_STATUS_MS_VALID bit is set in measurement status \n + Note: All SV times in the current measurement block are alredy propagated to common reference time epoch. \n + - Units: msec \n + */ + float svSubMs; + /**<Satellite time sub-millisecond. \n + Total SV Time = svMs + svSubMs \n + - Units: msec \n + */ + float svTimeUncMs; + /**< Satellite Time uncertainty \n + - Units: msec \n + */ + float dopplerShift; + /**< Satellite Doppler \n + - Units: meter per sec \n + */ + float dopplerShiftUnc; + /**< Satellite Doppler uncertainty\n + - Units: meter per sec \n + */ +}Gnss_LocSVTimeSpeedStructType; + +typedef enum +{ + GNSS_SV_STATE_IDLE = 0, + GNSS_SV_STATE_SEARCH = 1, + GNSS_SV_STATE_SEARCH_VERIFY = 2, + GNSS_SV_STATE_BIT_EDGE = 3, + GNSS_SV_STATE_VERIFY_TRACK = 4, + GNSS_SV_STATE_TRACK = 5, + GNSS_SV_STATE_RESTART = 6, + GNSS_SV_STATE_DPO_TRACK = 7 +} Gnss_LocSVStateEnumType; + +typedef enum +{ + GNSS_LOC_SVINFO_MASK_HAS_EPHEMERIS = 0x01, + /**< Ephemeris is available for this SV */ + GNSS_LOC_SVINFO_MASK_HAS_ALMANAC = 0x02 + /**< Almanac is available for this SV */ +}Gnss_LocSvInfoMaskT; + +typedef enum +{ + GNSS_LOC_SV_SRCH_STATUS_IDLE = 1, + /**< SV is not being actively processed */ + GNSS_LOC_SV_SRCH_STATUS_SEARCH = 2, + /**< The system is searching for this SV */ + GNSS_LOC_SV_SRCH_STATUS_TRACK = 3 + /**< SV is being tracked */ +}Gnss_LocSvSearchStatusEnumT; + + +typedef struct +{ + size_t size; + uint16_t gnssSvId; + /**< GNSS SV ID. + \begin{itemize1} + \item Range: \begin{itemize1} + \item For GPS: 1 to 32 + \item For GLONASS: 1 to 32 + \item For SBAS: 120 to 151 + \item For BDS: 201 to 237 + \end{itemize1} \end{itemize1} + The GPS and GLONASS SVs can be disambiguated using the system field. + */ + uint8_t gloFrequency; + /**< GLONASS frequency number + 7 \n + Valid only for GLONASS System \n + Shall be ignored for all other systems \n + - Range: 1 to 14 \n + */ + Gnss_LocSvSearchStatusEnumT svStatus; + /**< Satellite search state \n + @ENUM() + */ + bool healthStatus_valid; + /**< SV Health Status validity flag\n + - 0: Not valid \n + - 1: Valid \n + */ + uint8_t healthStatus; + /**< Health status. + \begin{itemize1} + \item Range: 0 to 1; 0 = unhealthy, \n 1 = healthy, 2 = unknown + \vspace{-0.18in} \end{itemize1} + */ + Gnss_LocSvInfoMaskT svInfoMask; + /**< Indicates whether almanac and ephemeris information is available. \n + @MASK() + */ + uint64_t measurementStatus; + /**< Bitmask indicating SV measurement status. + Valid bitmasks: \n + @MASK() + */ + uint16_t CNo; + /**< Carrier to Noise ratio \n + - Units: 0.1 dBHz \n + */ + uint16_t gloRfLoss; + /**< GLONASS Rf loss reference to Antenna. \n + - Units: dB, Scale: 0.1 \n + */ + bool lossOfLock; + /**< Loss of signal lock indicator \n + - 0: Signal in continuous track \n + - 1: Signal not in track \n + */ + int16_t measLatency; + /**< Age of the measurement. Positive value means measurement precedes ref time. \n + - Units: msec \n + */ + Gnss_LocSVTimeSpeedStructType svTimeSpeed; + /**< Unfiltered SV Time and Speed information + */ + float dopplerAccel; + /**< Satellite Doppler Accelertion\n + - Units: Hz/s \n + */ + bool multipathEstValid; + /**< Multipath estimate validity flag\n + - 0: Multipath estimate not valid \n + - 1: Multipath estimate valid \n + */ + float multipathEstimate; + /**< Estimate of multipath in measurement\n + - Units: Meters \n + */ + bool fineSpeedValid; + /**< Fine speed validity flag\n + - 0: Fine speed not valid \n + - 1: Fine speed valid \n + */ + float fineSpeed; + /**< Carrier phase derived speed \n + - Units: m/s \n + */ + bool fineSpeedUncValid; + /**< Fine speed uncertainty validity flag\n + - 0: Fine speed uncertainty not valid \n + - 1: Fine speed uncertainty valid \n + */ + float fineSpeedUnc; + /**< Carrier phase derived speed \n + - Units: m/s \n + */ + bool carrierPhaseValid; + /**< Carrier Phase measurement validity flag\n + - 0: Carrier Phase not valid \n + - 1: Carrier Phase valid \n + */ + double carrierPhase; + /**< Carrier phase measurement [L1 cycles] \n + */ + bool cycleSlipCountValid; + /**< Cycle slup count validity flag\n + - 0: Not valid \n + - 1: Valid \n + */ + uint8_t cycleSlipCount; + /**< Increments when a CSlip is detected */ + + bool svDirectionValid; + /**< Validity flag for SV direction */ + + float svAzimuth; + /**< Satellite Azimuth + - Units: radians \n + */ + float svElevation; + /**< Satellite Elevation + - Units: radians \n + */ +} Gnss_SVMeasurementStructType; + +/**< Maximum number of satellites in measurement block for given system. */ + +typedef struct +{ + size_t size; + Gnss_LocSvSystemEnumType system; + /**< Specifies the Satellite System Type + */ + bool isSystemTimeValid; + /**< Indicates whether System Time is Valid:\n + - 0x01 (TRUE) -- System Time is valid \n + - 0x00 (FALSE) -- System Time is not valid + */ + Gnss_LocSystemTimeStructType systemTime; + /**< System Time Information \n + */ + bool isGloTime_valid; + Gnss_LocGloTimeStructType gloTime; + + bool isSystemTimeExt_valid; + Gnss_LocGnssTimeExtStructType systemTimeExt; + + uint8_t numSvs; + /* Number of SVs in this report block */ + + Gnss_SVMeasurementStructType svMeasurement[GNSS_LOC_SV_MEAS_LIST_MAX_SIZE]; + /**< Satellite measurement Information \n + */ +} Gnss_ClockMeasurementStructType; + + +typedef struct +{ + size_t size; + uint8_t seqNum; + /**< Current message Number */ + uint8_t maxMessageNum; + /**< Maximum number of message that will be sent for present time epoch. */ + + bool leapSecValid; + Gnss_LeapSecondInfoStructType leapSec; + + Gnss_InterSystemBiasStructType gpsGloInterSystemBias; + + Gnss_InterSystemBiasStructType gpsBdsInterSystemBias; + + Gnss_InterSystemBiasStructType gpsGalInterSystemBias; + + Gnss_InterSystemBiasStructType bdsGloInterSystemBias; + + Gnss_InterSystemBiasStructType galGloInterSystemBias; + + Gnss_InterSystemBiasStructType galBdsInterSystemBias; + + bool clockFreqValid; + Gnss_LocRcvrClockFrequencyInfoStructType clockFreq; /* Freq */ + bool gnssMeasValid; + Gnss_ClockMeasurementStructType gnssMeas; + Gnss_ApTimeStampStructType timeStamp; + +} GnssSvMeasurementSet; + +typedef enum +{ + GNSS_SV_POLY_COEFF_VALID = 0x01, + /**< SV position in orbit coefficients are valid */ + GNSS_SV_POLY_IONO_VALID = 0x02, + /**< Iono estimates are valid */ + + GNSS_SV_POLY_TROPO_VALID = 0x04, + /**< Tropo estimates are valid */ + + GNSS_SV_POLY_ELEV_VALID = 0x08, + /**< Elevation, rate, uncertainty are valid */ + + GNSS_SV_POLY_SRC_ALM_CORR = 0x10, + /**< Polynomials based on XTRA */ + + GNSS_SV_POLY_SBAS_IONO_VALID = 0x20, + /**< SBAS IONO and rate are valid */ + + GNSS_SV_POLY_GLO_STR4 = 0x40 + /**< GLONASS String 4 has been received */ +}Gnss_SvPolyStatusMaskType; + + +typedef struct +{ + size_t size; + uint8_t gnssSvId; + /* GPS: 1-32, GLO: 65-96, 0: Invalid + All others are reserved + */ + int8_t freqNum; + /* Freq index, only valid if u_SysInd is GLO */ + + uint8_t svPolyFlags; + /* Indicate the validity of the elements + as per Gnss_SvPolyStatusMaskType + */ + + uint32_t is_valid; + + uint16_t iode; + /* Ephemeris reference time + GPS:Issue of Data Ephemeris used [unitless]. + GLO: Tb 7-bit, refer to ICD02 + */ + double T0; + /* Reference time for polynominal calculations + GPS: Secs in week. + GLO: Full secs since Jan/01/96 + */ + double polyCoeffXYZ0[GNSS_SV_POLY_XYZ_0_TH_ORDER_COEFF_MAX_SIZE]; + /* C0X, C0Y, C0Z */ + double polyCoefXYZN[GNSS_SV_POLY_XYZ_N_TH_ORDER_COEFF_MAX_SIZE]; + /* C1X, C2X ... C2Z, C3Z */ + float polyCoefOther[GNSS_SV_POLY_SV_CLKBIAS_COEFF_MAX_SIZE]; + /* C0T, C1T, C2T, C3T */ + float svPosUnc; /* SV position uncertainty [m]. */ + float ionoDelay; /* Ionospheric delay at d_T0 [m]. */ + float ionoDot; /* Iono delay rate [m/s]. */ + float sbasIonoDelay;/* SBAS Ionospheric delay at d_T0 [m]. */ + float sbasIonoDot; /* SBAS Iono delay rate [m/s]. */ + float tropoDelay; /* Tropospheric delay [m]. */ + float elevation; /* Elevation [rad] at d_T0 */ + float elevationDot; /* Elevation rate [rad/s] */ + float elevationUnc; /* SV elevation [rad] uncertainty */ + double velCoef[GNSS_SV_POLY_VELOCITY_COEF_MAX_SIZE]; + /* Coefficients of velocity poly */ + uint32_t enhancedIOD; /* Enhanced Reference Time */ +} GnssSvPolynomial; + #ifdef __cplusplus } #endif /* __cplusplus */ diff --git a/etc/gps.conf b/etc/gps.conf index 4e6b436..e3b663a 100644 --- a/etc/gps.conf +++ b/etc/gps.conf @@ -49,7 +49,7 @@ SUPL_ES=0 #Choose PDN for Emergency SUPL #1 - Use emergency PDN #0 - Use regular SUPL PDN for Emergency SUPL -USE_EMERGENCY_PDN_FOR_EMERGENCY_SUPL=1 +USE_EMERGENCY_PDN_FOR_EMERGENCY_SUPL=0 #SUPL_MODE is a bit mask set in config.xml per carrier by default. #If it is uncommented here, this value will overwrite the value from @@ -115,3 +115,45 @@ SGLTE_TARGET=0 # 0x2: RRLP UPlane # 0x4: LLP Uplane A_GLONASS_POS_PROTOCOL_SELECT = 0 + +################################################## +# AP Coarse Timestamp Uncertainty +################################################## +# default : 10 +# or as per clock uncertainty of product +AP_TIMESTAMP_UNCERTAINTY = 10 + +##################################### +# GNSS PPS settings +##################################### +#AP DR engine availability status +# 0 : NO AP DR (default) +# 1 : AP DR enabled +#EXTERNAL_DR_ENABLED = 0 + +##################################### +#DR_SYNC Pulse Availability +##################################### +# 0 : DR_SYNC pulse not available (default) +# 1 : DR_SYNC pulse available +DR_SYNC_ENABLED = 0 + +##################################### +#PPS Device name +##################################### +PPS_DEVICENAME = /dev/pps0 + +##################################### +#AP Clock Accuracy +##################################### +AP_CLOCK_PPM = 100 + +##################################### +#MAX ms difference to detect missing pulse +##################################### +MISSING_PULSE_TIME_DELTA = 900 + +##################################### +#Propagation time uncertainty +##################################### +PROPAGATION_TIME_UNCERTAINTY = 1 diff --git a/loc_api/libloc_api_50001/LocEngAdapter.cpp b/loc_api/libloc_api_50001/LocEngAdapter.cpp index 592662d..816c3b9 100644 --- a/loc_api/libloc_api_50001/LocEngAdapter.cpp +++ b/loc_api/libloc_api_50001/LocEngAdapter.cpp @@ -395,6 +395,23 @@ void LocEngAdapter::reportSv(GnssSvStatus &svStatus, } } + +void LocEngAdapter::reportSvMeasurement(GnssSvMeasurementSet &svMeasurementSet) +{ + // We send SvMeasurementSet to AmtProxy/ULPProxy to be forwarded as necessary. + if (! mUlp->reportSvMeasurement(svMeasurementSet)) { + //Send to Internal Adapter later if needed by LA + } +} + +void LocEngAdapter::reportSvPolynomial(GnssSvPolynomial &svPolynomial) +{ + // We send SvMeasurementSet to AmtProxy/ULPProxy to be forwarded as necessary. + if (! mUlp->reportSvPolynomial(svPolynomial)) { + //Send to Internal Adapter later if needed by LA + } +} + void LocEngAdapter::setInSession(bool inSession) { mNavigating = inSession; diff --git a/loc_api/libloc_api_50001/LocEngAdapter.h b/loc_api/libloc_api_50001/LocEngAdapter.h index 7046875..10ba1bb 100644 --- a/loc_api/libloc_api_50001/LocEngAdapter.h +++ b/loc_api/libloc_api_50001/LocEngAdapter.h @@ -276,6 +276,8 @@ public: virtual void reportSv(GnssSvStatus &svStatus, GpsLocationExtended &locationExtended, void* svExt); + virtual void reportSvMeasurement(GnssSvMeasurementSet &svMeasurementSet); + virtual void reportSvPolynomial(GnssSvPolynomial &svPolynomial); virtual void reportStatus(GpsStatusValue status); virtual void reportNmea(const char* nmea, int length); virtual bool reportXtraServer(const char* url1, const char* url2, diff --git a/loc_api/libloc_api_50001/loc.cpp b/loc_api/libloc_api_50001/loc.cpp index 5b6beba..434fd52 100644 --- a/loc_api/libloc_api_50001/loc.cpp +++ b/loc_api/libloc_api_50001/loc.cpp @@ -44,6 +44,7 @@ #include <errno.h> #include <LocDualContext.h> #include <platform_lib_includes.h> +#include <cutils/properties.h> using namespace loc_core; @@ -276,6 +277,7 @@ SIDE EFFECTS static int loc_init(GpsCallbacks* callbacks) { int retVal = -1; + unsigned int target = (unsigned int) -1; ENTRY_LOG(); LOC_API_ADAPTER_EVENT_MASK_T event; @@ -294,6 +296,17 @@ static int loc_init(GpsCallbacks* callbacks) LOC_API_ADAPTER_BIT_NMEA_1HZ_REPORT | LOC_API_ADAPTER_BIT_NI_NOTIFY_VERIFY_REQUEST; + target = loc_get_target(); + + /* If platform is "auto" and external dr enabled then enable + ** Measurement report and SV Polynomial report + */ + if((1 == gps_conf.EXTERNAL_DR_ENABLED) && (GNSS_AUTO == getTargetGnssType(target))) + { + event |= LOC_API_ADAPTER_BIT_GNSS_MEASUREMENT_REPORT | + LOC_API_ADAPTER_BIT_GNSS_SV_POLYNOMIAL_REPORT; + } + LocCallbacks clientCallbacks = {local_loc_cb, /* location_cb */ callbacks->status_cb, /* status_cb */ local_sv_cb, /* sv_status_cb */ diff --git a/loc_api/libloc_api_50001/loc_eng.cpp b/loc_api/libloc_api_50001/loc_eng.cpp index 93aacf6..66dd72c 100644 --- a/loc_api/libloc_api_50001/loc_eng.cpp +++ b/loc_api/libloc_api_50001/loc_eng.cpp @@ -99,6 +99,7 @@ static const loc_param_s_type gps_conf_table[] = {"XTRA_SERVER_2", &gps_conf.XTRA_SERVER_2, NULL, 's'}, {"XTRA_SERVER_3", &gps_conf.XTRA_SERVER_3, NULL, 's'}, {"USE_EMERGENCY_PDN_FOR_EMERGENCY_SUPL", &gps_conf.USE_EMERGENCY_PDN_FOR_EMERGENCY_SUPL, NULL, 'n'}, + {"EXTERNAL_DR_ENABLED", &gps_conf.EXTERNAL_DR_ENABLED, NULL, 'n'}, }; static const loc_param_s_type sap_conf_table[] = @@ -2155,6 +2156,9 @@ void loc_eng_delete_aiding_data(loc_eng_data_s_type &loc_eng_data, GpsAidingData ENTRY_LOG_CALLFLOW(); INIT_CHECK(loc_eng_data.adapter, return); + //report delete aiding data to ULP to send to DRPlugin + loc_eng_data.adapter->getUlpProxy()->reportDeleteAidingData(f); + loc_eng_data.adapter->sendMsg(new LocEngDelAidData(&loc_eng_data, f)); EXIT_LOG(%s, VOID_RET); diff --git a/loc_api/libloc_api_50001/loc_eng.h b/loc_api/libloc_api_50001/loc_eng.h index c0a5fbd..ed69752 100644 --- a/loc_api/libloc_api_50001/loc_eng.h +++ b/loc_api/libloc_api_50001/loc_eng.h @@ -160,6 +160,7 @@ typedef struct loc_gps_cfg_s uint32_t GPS_LOCK; uint32_t A_GLONASS_POS_PROTOCOL_SELECT; uint32_t AGPS_CERT_WRITABLE_MASK; + uint32_t EXTERNAL_DR_ENABLED; } loc_gps_cfg_s_type; /* NOTE: the implementaiton of the parser casts number diff --git a/utils/Android.mk b/utils/Android.mk index 45f3c25..6f0e228 100644 --- a/utils/Android.mk +++ b/utils/Android.mk @@ -30,7 +30,8 @@ LOCAL_SRC_FILES += \ # Flag -std=c++11 is not accepted by compiler when LOCAL_CLANG is set to true LOCAL_CFLAGS += \ -fno-short-enums \ - -D_ANDROID_ + -D_ANDROID_ \ + -std=c++11 ifeq ($(TARGET_BUILD_VARIANT),user) LOCAL_CFLAGS += -DTARGET_BUILD_VARIANT_USER diff --git a/utils/LocThread.cpp b/utils/LocThread.cpp index e8e8392..685841e 100644 --- a/utils/LocThread.cpp +++ b/utils/LocThread.cpp @@ -85,7 +85,10 @@ LocThreadDelegate::LocThreadDelegate(LocThread::tCreate creator, if (mThandle) { // set thread name char lname[16]; - strlcpy(lname, threadName, sizeof(lname)); + int len = (sizeof(lname)>sizeof(threadName)) ? + (sizeof(threadName) -1):(sizeof(lname) - 1); + memcpy(lname, threadName, len); + lname[len] = 0; // set the thread name here pthread_setname_np(mThandle, lname); |