diff options
Diffstat (limited to 'utils/loc_nmea.cpp')
| -rw-r--r-- | utils/loc_nmea.cpp | 34 |
1 files changed, 33 insertions, 1 deletions
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; |