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-rw-r--r--android/2.0/location_api/LocationUtil.cpp3
-rw-r--r--core/SystemStatus.cpp27
-rw-r--r--core/SystemStatus.h44
-rw-r--r--gnss/GnssAdapter.cpp19
-rw-r--r--location/LocationDataTypes.h42
-rw-r--r--utils/gps_extended_c.h67
-rw-r--r--utils/loc_nmea.cpp34
7 files changed, 178 insertions, 58 deletions
diff --git a/android/2.0/location_api/LocationUtil.cpp b/android/2.0/location_api/LocationUtil.cpp
index 6bd5084..38a083a 100644
--- a/android/2.0/location_api/LocationUtil.cpp
+++ b/android/2.0/location_api/LocationUtil.cpp
@@ -209,6 +209,9 @@ void convertGnssConstellationType(GnssSvType& in, V2_0::GnssConstellationType& o
case GNSS_SV_TYPE_GALILEO:
out = V2_0::GnssConstellationType::GALILEO;
break;
+ case GNSS_SV_TYPE_NAVIC:
+ out = V2_0::GnssConstellationType::IRNSS;
+ break;
case GNSS_SV_TYPE_UNKNOWN:
default:
out = V2_0::GnssConstellationType::UNKNOWN;
diff --git a/core/SystemStatus.cpp b/core/SystemStatus.cpp
index 524963b..18cb99c 100644
--- a/core/SystemStatus.cpp
+++ b/core/SystemStatus.cpp
@@ -382,16 +382,19 @@ public:
uint32_t mBdsXtraAge;
uint32_t mGalXtraAge;
uint32_t mQzssXtraAge;
+ uint32_t mNavicXtraAge;
uint32_t mGpsXtraValid;
uint32_t mGloXtraValid;
uint64_t mBdsXtraValid;
uint64_t mGalXtraValid;
uint8_t mQzssXtraValid;
+ uint32_t mNavicXtraValid;
};
class SystemStatusPQWP3parser : public SystemStatusNmeaBase
{
private:
+ // todo: update for navic once available
enum
{
eTalker = 0,
@@ -418,11 +421,13 @@ public:
inline uint32_t getBdsXtraAge() { return mP3.mBdsXtraAge; }
inline uint32_t getGalXtraAge() { return mP3.mGalXtraAge; }
inline uint32_t getQzssXtraAge() { return mP3.mQzssXtraAge; }
+ inline uint32_t getNavicXtraAge() { return mP3.mNavicXtraAge; }
inline uint32_t getGpsXtraValid() { return mP3.mGpsXtraValid; }
inline uint32_t getGloXtraValid() { return mP3.mGloXtraValid; }
inline uint64_t getBdsXtraValid() { return mP3.mBdsXtraValid; }
inline uint64_t getGalXtraValid() { return mP3.mGalXtraValid; }
inline uint8_t getQzssXtraValid() { return mP3.mQzssXtraValid; }
+ inline uint32_t getNavicXtraValid() { return mP3.mNavicXtraValid; }
SystemStatusPQWP3parser(const char *str_in, uint32_t len_in)
: SystemStatusNmeaBase(str_in, len_in)
@@ -431,6 +436,7 @@ public:
return;
}
memset(&mP3, 0, sizeof(mP3));
+ // todo: update for navic once available
mP3.mXtraValidMask = strtol(mField[eXtraValidMask].c_str(), NULL, 16);
mP3.mGpsXtraAge = atoi(mField[eGpsXtraAge].c_str());
mP3.mGloXtraAge = atoi(mField[eGloXtraAge].c_str());
@@ -511,21 +517,25 @@ public:
uint64_t mBdsUnknownMask;
uint64_t mGalUnknownMask;
uint8_t mQzssUnknownMask;
+ uint32_t mNavicUnknownMask;
uint32_t mGpsGoodMask;
uint32_t mGloGoodMask;
uint64_t mBdsGoodMask;
uint64_t mGalGoodMask;
uint8_t mQzssGoodMask;
+ uint32_t mNavicGoodMask;
uint32_t mGpsBadMask;
uint32_t mGloBadMask;
uint64_t mBdsBadMask;
uint64_t mGalBadMask;
uint8_t mQzssBadMask;
+ uint32_t mNavicBadMask;
};
class SystemStatusPQWP5parser : public SystemStatusNmeaBase
{
private:
+ // todo: update for navic once available
enum
{
eTalker = 0,
@@ -555,16 +565,19 @@ public:
inline uint64_t getBdsUnknownMask() { return mP5.mBdsUnknownMask; }
inline uint64_t getGalUnknownMask() { return mP5.mGalUnknownMask; }
inline uint8_t getQzssUnknownMask() { return mP5.mQzssUnknownMask; }
+ inline uint32_t getNavicUnknownMask() { return mP5.mNavicUnknownMask; }
inline uint32_t getGpsGoodMask() { return mP5.mGpsGoodMask; }
inline uint32_t getGloGoodMask() { return mP5.mGloGoodMask; }
inline uint64_t getBdsGoodMask() { return mP5.mBdsGoodMask; }
inline uint64_t getGalGoodMask() { return mP5.mGalGoodMask; }
inline uint8_t getQzssGoodMask() { return mP5.mQzssGoodMask; }
+ inline uint32_t getNavicGoodMask() { return mP5.mNavicGoodMask; }
inline uint32_t getGpsBadMask() { return mP5.mGpsBadMask; }
inline uint32_t getGloBadMask() { return mP5.mGloBadMask; }
inline uint64_t getBdsBadMask() { return mP5.mBdsBadMask; }
inline uint64_t getGalBadMask() { return mP5.mGalBadMask; }
inline uint8_t getQzssBadMask() { return mP5.mQzssBadMask; }
+ inline uint32_t getNavicBadMask() { return mP5.mNavicBadMask; }
SystemStatusPQWP5parser(const char *str_in, uint32_t len_in)
: SystemStatusNmeaBase(str_in, len_in)
@@ -573,6 +586,7 @@ public:
return;
}
memset(&mP5, 0, sizeof(mP5));
+ // todo: update for navic once available
mP5.mGpsUnknownMask = strtol(mField[eGpsUnknownMask].c_str(), NULL, 16);
mP5.mGloUnknownMask = strtol(mField[eGloUnknownMask].c_str(), NULL, 16);
mP5.mBdsUnknownMask = strtol(mField[eBdsUnknownMask].c_str(), NULL, 16);
@@ -971,11 +985,13 @@ SystemStatusXtra::SystemStatusXtra(const SystemStatusPQWP3& nmea) :
mBdsXtraAge(nmea.mBdsXtraAge),
mGalXtraAge(nmea.mGalXtraAge),
mQzssXtraAge(nmea.mQzssXtraAge),
+ mNavicXtraAge(nmea.mNavicXtraAge),
mGpsXtraValid(nmea.mGpsXtraValid),
mGloXtraValid(nmea.mGloXtraValid),
mBdsXtraValid(nmea.mBdsXtraValid),
mGalXtraValid(nmea.mGalXtraValid),
- mQzssXtraValid(nmea.mQzssXtraValid)
+ mQzssXtraValid(nmea.mQzssXtraValid),
+ mNavicXtraValid(nmea.mNavicXtraValid)
{
}
@@ -987,11 +1003,13 @@ bool SystemStatusXtra::equals(const SystemStatusXtra& peer)
(mBdsXtraAge != peer.mBdsXtraAge) ||
(mGalXtraAge != peer.mGalXtraAge) ||
(mQzssXtraAge != peer.mQzssXtraAge) ||
+ (mNavicXtraAge != peer.mNavicXtraAge) ||
(mGpsXtraValid != peer.mGpsXtraValid) ||
(mGloXtraValid != peer.mGloXtraValid) ||
(mBdsXtraValid != peer.mBdsXtraValid) ||
(mGalXtraValid != peer.mGalXtraValid) ||
- (mQzssXtraValid != peer.mQzssXtraValid)) {
+ (mQzssXtraValid != peer.mQzssXtraValid) ||
+ (mNavicXtraValid != peer.mNavicXtraValid)) {
return false;
}
return true;
@@ -1060,16 +1078,19 @@ SystemStatusSvHealth::SystemStatusSvHealth(const SystemStatusPQWP5& nmea) :
mBdsUnknownMask(nmea.mBdsUnknownMask),
mGalUnknownMask(nmea.mGalUnknownMask),
mQzssUnknownMask(nmea.mQzssUnknownMask),
+ mNavicUnknownMask(nmea.mNavicUnknownMask),
mGpsGoodMask(nmea.mGpsGoodMask),
mGloGoodMask(nmea.mGloGoodMask),
mBdsGoodMask(nmea.mBdsGoodMask),
mGalGoodMask(nmea.mGalGoodMask),
mQzssGoodMask(nmea.mQzssGoodMask),
+ mNavicGoodMask(nmea.mNavicGoodMask),
mGpsBadMask(nmea.mGpsBadMask),
mGloBadMask(nmea.mGloBadMask),
mBdsBadMask(nmea.mBdsBadMask),
mGalBadMask(nmea.mGalBadMask),
- mQzssBadMask(nmea.mQzssBadMask)
+ mQzssBadMask(nmea.mQzssBadMask),
+ mNavicBadMask(nmea.mNavicBadMask)
{
}
diff --git a/core/SystemStatus.h b/core/SystemStatus.h
index 0dbcf91..f3467e2 100644
--- a/core/SystemStatus.h
+++ b/core/SystemStatus.h
@@ -44,20 +44,22 @@
#include <gps_extended_c.h>
-#define GPS_MIN (1) //1-32
-#define SBAS_MIN (33)
-#define GLO_MIN (65) //65-88
-#define QZSS_MIN (193) //193-197
-#define BDS_MIN (201) //201-237
-#define GAL_MIN (301) //301-336
-
-#define GPS_NUM (32)
-#define SBAS_NUM (32)
-#define GLO_NUM (24)
-#define QZSS_NUM (5)
-#define BDS_NUM (37)
-#define GAL_NUM (36)
-#define SV_ALL_NUM (GPS_NUM+GLO_NUM+QZSS_NUM+BDS_NUM+GAL_NUM) //=134
+#define GPS_MIN (1) //1-32
+#define SBAS_MIN (33)
+#define GLO_MIN (65) //65-88
+#define QZSS_MIN (193) //193-197
+#define BDS_MIN (201) //201-237
+#define GAL_MIN (301) //301-336
+#define NAVIC_MIN (401) //401-414
+
+#define GPS_NUM (32)
+#define SBAS_NUM (32)
+#define GLO_NUM (24)
+#define QZSS_NUM (5)
+#define BDS_NUM (37)
+#define GAL_NUM (36)
+#define NAVIC_NUM (14)
+#define SV_ALL_NUM (GPS_NUM+GLO_NUM+QZSS_NUM+BDS_NUM+GAL_NUM+NAVIC_NUM) //=148
namespace loc_core
{
@@ -258,11 +260,13 @@ public:
uint32_t mBdsXtraAge;
uint32_t mGalXtraAge;
uint32_t mQzssXtraAge;
+ uint32_t mNavicXtraAge;
uint32_t mGpsXtraValid;
uint32_t mGloXtraValid;
uint64_t mBdsXtraValid;
uint64_t mGalXtraValid;
uint8_t mQzssXtraValid;
+ uint32_t mNavicXtraValid;
inline SystemStatusXtra() :
mXtraValidMask(0),
mGpsXtraAge(0),
@@ -270,11 +274,13 @@ public:
mBdsXtraAge(0),
mGalXtraAge(0),
mQzssXtraAge(0),
+ mNavicXtraAge(0),
mGpsXtraValid(0),
mGloXtraValid(0),
mBdsXtraValid(0ULL),
mGalXtraValid(0ULL),
- mQzssXtraValid(0) {}
+ mQzssXtraValid(0),
+ mNavicXtraValid(0) {}
inline SystemStatusXtra(const SystemStatusPQWP3& nmea);
bool equals(const SystemStatusXtra& peer);
void dump(void);
@@ -309,32 +315,38 @@ public:
uint64_t mBdsUnknownMask;
uint64_t mGalUnknownMask;
uint8_t mQzssUnknownMask;
+ uint32_t mNavicUnknownMask;
uint32_t mGpsGoodMask;
uint32_t mGloGoodMask;
uint64_t mBdsGoodMask;
uint64_t mGalGoodMask;
uint8_t mQzssGoodMask;
+ uint32_t mNavicGoodMask;
uint32_t mGpsBadMask;
uint32_t mGloBadMask;
uint64_t mBdsBadMask;
uint64_t mGalBadMask;
uint8_t mQzssBadMask;
+ uint32_t mNavicBadMask;
inline SystemStatusSvHealth() :
mGpsUnknownMask(0),
mGloUnknownMask(0),
mBdsUnknownMask(0ULL),
mGalUnknownMask(0ULL),
mQzssUnknownMask(0),
+ mNavicUnknownMask(0),
mGpsGoodMask(0),
mGloGoodMask(0),
mBdsGoodMask(0ULL),
mGalGoodMask(0ULL),
mQzssGoodMask(0),
+ mNavicGoodMask(0),
mGpsBadMask(0),
mGloBadMask(0),
mBdsBadMask(0ULL),
mGalBadMask(0ULL),
- mQzssBadMask(0) {}
+ mQzssBadMask(0),
+ mNavicBadMask(0) {}
inline SystemStatusSvHealth(const SystemStatusPQWP5& nmea);
bool equals(const SystemStatusSvHealth& peer);
void dump(void);
diff --git a/gnss/GnssAdapter.cpp b/gnss/GnssAdapter.cpp
index 549c845..eaf8878 100644
--- a/gnss/GnssAdapter.cpp
+++ b/gnss/GnssAdapter.cpp
@@ -3364,6 +3364,11 @@ GnssAdapter::reportSv(GnssSvNotification& svNotify)
// SV id passed to here by LocApi is 1-based.
svNotify.gnssSvs[i].svId += (QZSS_SV_PRN_MIN - 1);
break;
+ case GNSS_SV_TYPE_NAVIC:
+ if (mGnssSvIdUsedInPosAvail) {
+ svUsedIdMask = mGnssSvIdUsedInPosition.navic_sv_used_ids_mask;
+ }
+ break;
default:
svUsedIdMask = 0;
break;
@@ -4384,6 +4389,19 @@ void GnssAdapter::convertSatelliteInfo(std::vector<GnssDebugSatelliteInfo>& out,
server_perdiction_age = (float)(in.mXtra.back().mGalXtraAge);
}
break;
+ case GNSS_SV_TYPE_NAVIC:
+ svid_min = GNSS_BUGREPORT_NAVIC_MIN;
+ svid_num = NAVIC_NUM;
+ svid_idx = GPS_NUM+GLO_NUM+QZSS_NUM+BDS_NUM+GAL_NUM;
+ if (!in.mSvHealth.empty()) {
+ eph_health_good_mask = in.mSvHealth.back().mNavicGoodMask;
+ eph_health_bad_mask = in.mSvHealth.back().mNavicBadMask;
+ }
+ if (!in.mXtra.empty()) {
+ server_perdiction_available_mask = in.mXtra.back().mNavicXtraValid;
+ server_perdiction_age = (float)(in.mXtra.back().mNavicXtraAge);
+ }
+ break;
default:
return;
}
@@ -4541,6 +4559,7 @@ bool GnssAdapter::getDebugReport(GnssDebugReport& r)
convertSatelliteInfo(r.mSatelliteInfo, GNSS_SV_TYPE_QZSS, reports);
convertSatelliteInfo(r.mSatelliteInfo, GNSS_SV_TYPE_BEIDOU, reports);
convertSatelliteInfo(r.mSatelliteInfo, GNSS_SV_TYPE_GALILEO, reports);
+ convertSatelliteInfo(r.mSatelliteInfo, GNSS_SV_TYPE_NAVIC, reports);
LOC_LOGV("getDebugReport - satellite=%zu", r.mSatelliteInfo.size());
return true;
diff --git a/location/LocationDataTypes.h b/location/LocationDataTypes.h
index 0c8e157..ad85cd7 100644
--- a/location/LocationDataTypes.h
+++ b/location/LocationDataTypes.h
@@ -41,12 +41,13 @@
#define GNSS_MEASUREMENTS_MAX (128)
#define GNSS_UTC_TIME_OFFSET (3657)
-#define GNSS_BUGREPORT_GPS_MIN (1)
-#define GNSS_BUGREPORT_SBAS_MIN (120)
-#define GNSS_BUGREPORT_GLO_MIN (1)
-#define GNSS_BUGREPORT_QZSS_MIN (193)
-#define GNSS_BUGREPORT_BDS_MIN (1)
-#define GNSS_BUGREPORT_GAL_MIN (1)
+#define GNSS_BUGREPORT_GPS_MIN (1)
+#define GNSS_BUGREPORT_SBAS_MIN (120)
+#define GNSS_BUGREPORT_GLO_MIN (1)
+#define GNSS_BUGREPORT_QZSS_MIN (193)
+#define GNSS_BUGREPORT_BDS_MIN (1)
+#define GNSS_BUGREPORT_GAL_MIN (1)
+#define GNSS_BUGREPORT_NAVIC_MIN (1)
#define GNSS_MAX_NAME_LENGTH (8)
@@ -349,6 +350,7 @@ typedef enum {
GNSS_SV_TYPE_QZSS,
GNSS_SV_TYPE_BEIDOU,
GNSS_SV_TYPE_GALILEO,
+ GNSS_SV_TYPE_NAVIC,
} GnssSvType;
typedef enum {
@@ -518,6 +520,7 @@ typedef enum {
GNSS_AIDING_DATA_SV_TYPE_QZSS_BIT = (1<<2),
GNSS_AIDING_DATA_SV_TYPE_BEIDOU_BIT = (1<<3),
GNSS_AIDING_DATA_SV_TYPE_GALILEO_BIT = (1<<4),
+ GNSS_AIDING_DATA_SV_TYPE_NAVIC_BIT = (1<<5),
} GnssAidingDataSvTypeBits;
/* Gnss constellation type mask */
@@ -528,13 +531,15 @@ typedef enum {
GNSS_CONSTELLATION_TYPE_QZSS_BIT = (1<<2),
GNSS_CONSTELLATION_TYPE_BEIDOU_BIT = (1<<3),
GNSS_CONSTELLATION_TYPE_GALILEO_BIT = (1<<4),
- GNSS_CONSTELLATION_TYPE_SBAS_BIT = (1<<5)
+ GNSS_CONSTELLATION_TYPE_SBAS_BIT = (1<<5),
+ GNSS_CONSTELLATION_TYPE_NAVIC_BIT = (1<<6)
} GnssConstellationTypeBits;
#define GNSS_CONSTELLATION_TYPE_MASK_ALL\
(GNSS_CONSTELLATION_TYPE_GPS_BIT | GNSS_CONSTELLATION_TYPE_GLONASS_BIT |\
GNSS_CONSTELLATION_TYPE_QZSS_BIT | GNSS_CONSTELLATION_TYPE_BEIDOU_BIT |\
- GNSS_CONSTELLATION_TYPE_GALILEO_BIT | GNSS_CONSTELLATION_TYPE_SBAS_BIT)
+ GNSS_CONSTELLATION_TYPE_GALILEO_BIT | GNSS_CONSTELLATION_TYPE_SBAS_BIT |\
+ GNSS_CONSTELLATION_TYPE_NAVIC_BIT)
/** GNSS Signal Type and RF Band */
typedef uint32_t GnssSignalTypeMask;
@@ -574,7 +579,9 @@ typedef enum {
/** QZSS L5 RF Band */
GNSS_SIGNAL_QZSS_L5 = (1<<16),
/** SBAS L1 RF Band */
- GNSS_SIGNAL_SBAS_L1 = (1<<17)
+ GNSS_SIGNAL_SBAS_L1 = (1<<17),
+ /** NAVIC L5 RF Band */
+ GNSS_SIGNAL_NAVIC_L5 = (1<<18)
} GnssSignalTypeBits;
#define GNSS_SIGNAL_TYPE_MASK_ALL\
@@ -583,7 +590,8 @@ typedef enum {
GNSS_SIGNAL_GALILEO_E1 | GNSS_SIGNAL_GALILEO_E5A | GNSS_SIGNAL_GALILEO_E5B |\
GNSS_SIGNAL_BEIDOU_B1I | GNSS_SIGNAL_BEIDOU_B1C | GNSS_SIGNAL_BEIDOU_B2I|\
GNSS_SIGNAL_BEIDOU_B2AI | GNSS_SIGNAL_QZSS_L1CA | GNSS_SIGNAL_QZSS_L1S |\
- GNSS_SIGNAL_QZSS_L2| GNSS_SIGNAL_QZSS_L5 | GNSS_SIGNAL_SBAS_L1)
+ GNSS_SIGNAL_QZSS_L2| GNSS_SIGNAL_QZSS_L5 | GNSS_SIGNAL_SBAS_L1 |\
+ GNSS_SIGNAL_NAVIC_L5)
typedef enum
{
@@ -599,7 +607,9 @@ typedef enum
/**< GLONASS satellite. */
GNSS_LOC_SV_SYSTEM_BDS = 5,
/**< BDS satellite. */
- GNSS_LOC_SV_SYSTEM_QZSS = 6
+ GNSS_LOC_SV_SYSTEM_QZSS = 6,
+ /**< QZSS satellite. */
+ GNSS_LOC_SV_SYSTEM_NAVIC = 7
/**< QZSS satellite. */
} Gnss_LocSvSystemEnumType;
@@ -622,7 +632,8 @@ typedef enum {
GNSS_LOC_SIGNAL_TYPE_QZSS_L2C_L = 15, /**< QZSS L2C_L RF Band */
GNSS_LOC_SIGNAL_TYPE_QZSS_L5_Q = 16, /**< QZSS L5_Q RF Band */
GNSS_LOC_SIGNAL_TYPE_SBAS_L1_CA = 17, /**< SBAS L1_CA RF Band */
- GNSS_LOC_MAX_NUMBER_OF_SIGNAL_TYPES = 18 /**< Maximum number of signal types */
+ GNSS_LOC_SIGNAL_TYPE_NAVIC_L5 = 18, /**< NAVIC L5 RF Band */
+ GNSS_LOC_MAX_NUMBER_OF_SIGNAL_TYPES = 19 /**< Maximum number of signal types */
} Gnss_LocSignalEnumType;
typedef uint64_t GnssDataMask;
@@ -799,6 +810,7 @@ typedef struct {
uint64_t galSvUsedIdsMask;
uint64_t bdsSvUsedIdsMask;
uint64_t qzssSvUsedIdsMask;
+ uint64_t navicSvUsedIdsMask;
} GnssLocationSvUsedInPosition;
typedef struct {
@@ -812,7 +824,8 @@ typedef struct {
For SBAS: 120 to 151
For QZSS-L1CA:193 to 197
For BDS: 201 to 237
- For GAL: 301 to 336 */
+ For GAL: 301 to 336
+ For NAVIC: 401 to 414 */
uint16_t gnssSvId;
} GnssMeasUsageInfo;
@@ -907,7 +920,8 @@ typedef union {
GnssSystemTimeStructType galSystemTime;
GnssSystemTimeStructType bdsSystemTime;
GnssSystemTimeStructType qzssSystemTime;
- GnssGloTimeStructType gloSystemTime;
+ GnssGloTimeStructType gloSystemTime;
+ GnssSystemTimeStructType navicSystemTime;
} SystemTimeStructUnion;
/** Time applicability of PVT report */
typedef struct {
diff --git a/utils/gps_extended_c.h b/utils/gps_extended_c.h
index 65218ab..70aa1be 100644
--- a/utils/gps_extended_c.h
+++ b/utils/gps_extended_c.h
@@ -434,6 +434,8 @@ typedef uint32_t GnssAdditionalSystemInfoMask;
#define BDS_SV_PRN_MAX 235
#define GAL_SV_PRN_MIN 301
#define GAL_SV_PRN_MAX 336
+#define NAVIC_SV_PRN_MIN 401
+#define NAVIC_SV_PRN_MAX 414
typedef uint32_t LocPosTechMask;
#define LOC_POS_TECH_MASK_DEFAULT ((LocPosTechMask)0x00000000)
@@ -467,6 +469,7 @@ typedef struct {
uint64_t gal_sv_used_ids_mask;
uint64_t bds_sv_used_ids_mask;
uint64_t qzss_sv_used_ids_mask;
+ uint64_t navic_sv_used_ids_mask;
} GnssSvUsedInPosition;
typedef struct {
@@ -594,6 +597,8 @@ typedef uint32_t GnssSignalTypeMask;
#define GNSS_SIGNAL_QZSS_L5 ((GnssSignalTypeMask)0x00010000ul)
/** SBAS L1 RF Band */
#define GNSS_SIGNAL_SBAS_L1 ((GnssSignalTypeMask)0x00020000ul)
+/** NAVIC L5 RF Band */
+#define GNSS_SIGNAL_NAVIC_L5 ((GnssSignalTypeMask)0x00040000ul)
typedef uint16_t GnssMeasUsageStatusBitMask;
/** Used in fix */
@@ -1352,26 +1357,32 @@ typedef struct
typedef uint64_t GpsSvMeasHeaderFlags;
-#define GNSS_SV_MEAS_HEADER_HAS_LEAP_SECOND 0x00000001
-#define GNSS_SV_MEAS_HEADER_HAS_CLOCK_FREQ 0x00000002
-#define GNSS_SV_MEAS_HEADER_HAS_AP_TIMESTAMP 0x00000004
-#define GNSS_SV_MEAS_HEADER_HAS_GPS_GLO_INTER_SYSTEM_BIAS 0x00000008
-#define GNSS_SV_MEAS_HEADER_HAS_GPS_BDS_INTER_SYSTEM_BIAS 0x00000010
-#define GNSS_SV_MEAS_HEADER_HAS_GPS_GAL_INTER_SYSTEM_BIAS 0x00000020
-#define GNSS_SV_MEAS_HEADER_HAS_BDS_GLO_INTER_SYSTEM_BIAS 0x00000040
-#define GNSS_SV_MEAS_HEADER_HAS_GAL_GLO_INTER_SYSTEM_BIAS 0x00000080
-#define GNSS_SV_MEAS_HEADER_HAS_GAL_BDS_INTER_SYSTEM_BIAS 0x00000100
-#define GNSS_SV_MEAS_HEADER_HAS_GPS_SYSTEM_TIME 0x00000200
-#define GNSS_SV_MEAS_HEADER_HAS_GAL_SYSTEM_TIME 0x00000400
-#define GNSS_SV_MEAS_HEADER_HAS_BDS_SYSTEM_TIME 0x00000800
-#define GNSS_SV_MEAS_HEADER_HAS_QZSS_SYSTEM_TIME 0x00001000
-#define GNSS_SV_MEAS_HEADER_HAS_GLO_SYSTEM_TIME 0x00002000
-#define GNSS_SV_MEAS_HEADER_HAS_GPS_SYSTEM_TIME_EXT 0x00004000
-#define GNSS_SV_MEAS_HEADER_HAS_GAL_SYSTEM_TIME_EXT 0x00008000
-#define GNSS_SV_MEAS_HEADER_HAS_BDS_SYSTEM_TIME_EXT 0x00010000
-#define GNSS_SV_MEAS_HEADER_HAS_QZSS_SYSTEM_TIME_EXT 0x00020000
-#define GNSS_SV_MEAS_HEADER_HAS_GPSL1L5_TIME_BIAS 0x00040000
-#define GNSS_SV_MEAS_HEADER_HAS_GALE1E5A_TIME_BIAS 0x00080000
+#define GNSS_SV_MEAS_HEADER_HAS_LEAP_SECOND 0x00000001
+#define GNSS_SV_MEAS_HEADER_HAS_CLOCK_FREQ 0x00000002
+#define GNSS_SV_MEAS_HEADER_HAS_AP_TIMESTAMP 0x00000004
+#define GNSS_SV_MEAS_HEADER_HAS_GPS_GLO_INTER_SYSTEM_BIAS 0x00000008
+#define GNSS_SV_MEAS_HEADER_HAS_GPS_BDS_INTER_SYSTEM_BIAS 0x00000010
+#define GNSS_SV_MEAS_HEADER_HAS_GPS_GAL_INTER_SYSTEM_BIAS 0x00000020
+#define GNSS_SV_MEAS_HEADER_HAS_BDS_GLO_INTER_SYSTEM_BIAS 0x00000040
+#define GNSS_SV_MEAS_HEADER_HAS_GAL_GLO_INTER_SYSTEM_BIAS 0x00000080
+#define GNSS_SV_MEAS_HEADER_HAS_GAL_BDS_INTER_SYSTEM_BIAS 0x00000100
+#define GNSS_SV_MEAS_HEADER_HAS_GPS_SYSTEM_TIME 0x00000200
+#define GNSS_SV_MEAS_HEADER_HAS_GAL_SYSTEM_TIME 0x00000400
+#define GNSS_SV_MEAS_HEADER_HAS_BDS_SYSTEM_TIME 0x00000800
+#define GNSS_SV_MEAS_HEADER_HAS_QZSS_SYSTEM_TIME 0x00001000
+#define GNSS_SV_MEAS_HEADER_HAS_GLO_SYSTEM_TIME 0x00002000
+#define GNSS_SV_MEAS_HEADER_HAS_GPS_SYSTEM_TIME_EXT 0x00004000
+#define GNSS_SV_MEAS_HEADER_HAS_GAL_SYSTEM_TIME_EXT 0x00008000
+#define GNSS_SV_MEAS_HEADER_HAS_BDS_SYSTEM_TIME_EXT 0x00010000
+#define GNSS_SV_MEAS_HEADER_HAS_QZSS_SYSTEM_TIME_EXT 0x00020000
+#define GNSS_SV_MEAS_HEADER_HAS_GPSL1L5_TIME_BIAS 0x00040000
+#define GNSS_SV_MEAS_HEADER_HAS_GALE1E5A_TIME_BIAS 0x00080000
+#define GNSS_SV_MEAS_HEADER_HAS_GPS_NAVIC_INTER_SYSTEM_BIAS 0x00100000
+#define GNSS_SV_MEAS_HEADER_HAS_GAL_NAVIC_INTER_SYSTEM_BIAS 0x00200000
+#define GNSS_SV_MEAS_HEADER_HAS_GLO_NAVIC_INTER_SYSTEM_BIAS 0x00400000
+#define GNSS_SV_MEAS_HEADER_HAS_BDS_NAVIC_INTER_SYSTEM_BIAS 0x00800000
+#define GNSS_SV_MEAS_HEADER_HAS_NAVIC_SYSTEM_TIME 0x01000000
+#define GNSS_SV_MEAS_HEADER_HAS_NAVIC_SYSTEM_TIME_EXT 0x02000000
@@ -1393,6 +1404,10 @@ typedef struct
Gnss_InterSystemBiasStructType bdsGloInterSystemBias;
Gnss_InterSystemBiasStructType galGloInterSystemBias;
Gnss_InterSystemBiasStructType galBdsInterSystemBias;
+ Gnss_InterSystemBiasStructType gpsNavicInterSystemBias;
+ Gnss_InterSystemBiasStructType galNavicInterSystemBias;
+ Gnss_InterSystemBiasStructType gloNavicInterSystemBias;
+ Gnss_InterSystemBiasStructType bdsNavicInterSystemBias;
Gnss_InterSystemBiasStructType gpsL1L5TimeBias;
Gnss_InterSystemBiasStructType galE1E5aTimeBias;
@@ -1400,6 +1415,7 @@ typedef struct
GnssSystemTimeStructType galSystemTime;
GnssSystemTimeStructType bdsSystemTime;
GnssSystemTimeStructType qzssSystemTime;
+ GnssSystemTimeStructType navicSystemTime;
GnssGloTimeStructType gloSystemTime;
/** GPS system RTC time information. */
@@ -1410,6 +1426,8 @@ typedef struct
Gnss_LocGnssTimeExtStructType bdsSystemTimeExt;
/** QZSS system RTC time information. */
Gnss_LocGnssTimeExtStructType qzssSystemTimeExt;
+ /** NAVIC system RTC time information. */
+ Gnss_LocGnssTimeExtStructType navicSystemTimeExt;
} GnssSvMeasurementHeader;
@@ -2025,10 +2043,11 @@ typedef struct
/* Mask indicating enabled or disabled constellations */
typedef uint64_t GnssSvTypesMask;
typedef enum {
- GNSS_SV_TYPES_MASK_GLO_BIT = (1<<0),
- GNSS_SV_TYPES_MASK_BDS_BIT = (1<<1),
- GNSS_SV_TYPES_MASK_QZSS_BIT = (1<<2),
- GNSS_SV_TYPES_MASK_GAL_BIT = (1<<3),
+ GNSS_SV_TYPES_MASK_GLO_BIT = (1<<0),
+ GNSS_SV_TYPES_MASK_BDS_BIT = (1<<1),
+ GNSS_SV_TYPES_MASK_QZSS_BIT = (1<<2),
+ GNSS_SV_TYPES_MASK_GAL_BIT = (1<<3),
+ GNSS_SV_TYPES_MASK_NAVIC_BIT = (1<<4),
} GnssSvTypesMaskBits;
/* This SV Type config is injected directly to GNSS Adapter
diff --git a/utils/loc_nmea.cpp b/utils/loc_nmea.cpp
index 9cd3472..45b4f06 100644
--- a/utils/loc_nmea.cpp
+++ b/utils/loc_nmea.cpp
@@ -123,6 +123,7 @@ typedef struct loc_sv_cache_info_s
uint32_t gal_used_mask;
uint32_t qzss_used_mask;
uint32_t bds_used_mask;
+ uint32_t navic_used_mask;
uint32_t gps_l1_count;
uint32_t gps_l5_count;
uint32_t glo_g1_count;
@@ -133,6 +134,7 @@ typedef struct loc_sv_cache_info_s
uint32_t qzss_l5_count;
uint32_t bds_b1_count;
uint32_t bds_b2_count;
+ uint32_t navic_l5_count;
float hdop;
float pdop;
float vdop;
@@ -324,6 +326,9 @@ static uint32_t convert_signalType_to_signalId(GnssSignalTypeMask signalType)
case GNSS_SIGNAL_BEIDOU_B2AI:
signalId = SIGNAL_ID_BDS_B2A;
break;
+ case GNSS_SIGNAL_NAVIC_L5:
+ signalId = SIGNAL_ID_NAVIC_L5SPS;
+ break;
default:
signalId = SIGNAL_ID_ALL_SIGNALS;
}
@@ -418,6 +423,16 @@ static loc_nmea_sv_meta* loc_nmea_sv_meta_init(loc_nmea_sv_meta& sv_meta,
sv_meta.svCount = sv_cache_info.bds_b2_count;
}
break;
+ case GNSS_SV_TYPE_NAVIC:
+ sv_meta.talker[0] = 'G';
+ sv_meta.talker[1] = 'I';
+ sv_meta.mask = sv_cache_info.navic_used_mask;
+ // NAVIC SV ids are from 401-414. So keep svIdOffset 0
+ sv_meta.systemId = SYSTEM_ID_NAVIC;
+ if (GNSS_SIGNAL_NAVIC_L5 == signalType) {
+ sv_meta.svCount = sv_cache_info.navic_l5_count;
+ }
+ break;
default:
LOC_LOGE("NMEA Error unknow constellation type: %d", svType);
return NULL;
@@ -428,7 +443,8 @@ static loc_nmea_sv_meta* loc_nmea_sv_meta_init(loc_nmea_sv_meta& sv_meta,
(sv_cache_info.glo_used_mask ? 1 : 0) +
(sv_cache_info.gal_used_mask ? 1 : 0) +
(sv_cache_info.qzss_used_mask ? 1 : 0) +
- (sv_cache_info.bds_used_mask ? 1 : 0) > 1)
+ (sv_cache_info.bds_used_mask ? 1 : 0) +
+ (sv_cache_info.navic_used_mask ? 1 : 0) > 1)
{
// If GPS, GLONASS, Galileo, QZSS, BDS etc. are combined
// to obtain the reported position solution,
@@ -701,6 +717,9 @@ static void loc_nmea_generate_GSV(const GnssSvNotification &svNotify,
case GNSS_SV_TYPE_SBAS:
signalType = GNSS_SIGNAL_SBAS_L1;
break;
+ case GNSS_SV_TYPE_NAVIC:
+ signalType = GNSS_SIGNAL_NAVIC_L5;
+ break;
default:
LOC_LOGE("NMEA Error unknow constellation type: %d",
svNotify.gnssSvs[svNumber - 1].type);
@@ -1815,6 +1834,19 @@ void loc_nmea_generate_sv(const GnssSvNotification &svNotify,
sv_cache_info.bds_b1_count++;
}
}
+ else if (GNSS_SV_TYPE_NAVIC == svNotify.gnssSvs[svNumber - 1].type)
+ {
+ // cache the used in fix mask, as it will be needed to send $PQGSA
+ // during the position report
+ if (GNSS_SV_OPTIONS_USED_IN_FIX_BIT ==
+ (svNotify.gnssSvs[svNumber - 1].gnssSvOptionsMask &
+ GNSS_SV_OPTIONS_USED_IN_FIX_BIT))
+ {
+ sv_cache_info.navic_used_mask |= (1 << (svNotify.gnssSvs[svNumber - 1].svId - 1));
+ }
+ // GNSS_SIGNAL_NAVIC_L5 is the only signal type for NAVIC
+ sv_cache_info.navic_l5_count++;
+ }
}
loc_nmea_sv_meta sv_meta;
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-18 04:50:07 +0000