From c3d1f8fb94442219916afd648df478d4579bdfe6 Mon Sep 17 00:00:00 2001 From: Hoss Zhou Date: Wed, 29 May 2019 15:45:08 +0800 Subject: fix nmea GSV/GNS/GSA issues 1. remove blank GSV sentences 2. modify GNS mode indicator field 3. modify GSA mode field, remove blank sentence Change-Id: Ibe196328938e2674f0100224209cef0b229328e1 CRs-Fixed: 2460129 --- utils/loc_nmea.cpp | 170 ++++++++++++++++++++++++++++++++++++++--------------- 1 file changed, 123 insertions(+), 47 deletions(-) (limited to 'utils') diff --git a/utils/loc_nmea.cpp b/utils/loc_nmea.cpp index abcf5b7..92ff8ea 100644 --- a/utils/loc_nmea.cpp +++ b/utils/loc_nmea.cpp @@ -36,6 +36,7 @@ #include #define GLONASS_SV_ID_OFFSET 64 +#define MAX_SV_COUNT_SUPPORTED_IN_ONE_CONSTELLATION 64 #define MAX_SATELLITES_IN_USE 12 #define MSEC_IN_ONE_WEEK 604800000ULL #define UTC_GPS_OFFSET_MSECS 315964800000ULL @@ -109,8 +110,9 @@ typedef struct loc_nmea_sv_meta_s { char talker[3]; LocGnssConstellationType svType; - uint32_t mask; + uint64_t mask; uint32_t svCount; + uint32_t totalSvUsedCount; uint32_t svIdOffset; uint32_t signalId; uint32_t systemId; @@ -118,12 +120,12 @@ typedef struct loc_nmea_sv_meta_s typedef struct loc_sv_cache_info_s { - uint32_t gps_used_mask; - uint32_t glo_used_mask; - uint32_t gal_used_mask; - uint32_t qzss_used_mask; - uint32_t bds_used_mask; - uint32_t navic_used_mask; + uint64_t gps_used_mask; + uint64_t glo_used_mask; + uint64_t gal_used_mask; + uint64_t qzss_used_mask; + uint64_t bds_used_mask; + uint64_t navic_used_mask; uint32_t gps_l1_count; uint32_t gps_l5_count; uint32_t glo_g1_count; @@ -337,6 +339,39 @@ static uint32_t convert_signalType_to_signalId(GnssSignalTypeMask signalType) } +/*=========================================================================== +FUNCTION get_sv_count_from_mask + +DESCRIPTION + get the sv count from bit mask + +DEPENDENCIES + NONE + +RETURN VALUE + value of sv count + +SIDE EFFECTS + N/A + +===========================================================================*/ +static uint32_t get_sv_count_from_mask(uint64_t svMask, int totalSvCount) +{ + int index = 0; + uint32_t svCount = 0; + + if(totalSvCount > MAX_SV_COUNT_SUPPORTED_IN_ONE_CONSTELLATION) { + LOC_LOGE("total SV count in this constellation %d exceeded limit %d", + totalSvCount, MAX_SV_COUNT_SUPPORTED_IN_ONE_CONSTELLATION); + } + for(index = 0; index < totalSvCount; index++) { + if(svMask & 0x1) + svCount += 1; + svMask >>= 1; + } + return svCount; +} + /*=========================================================================== FUNCTION loc_nmea_sv_meta_init @@ -438,6 +473,19 @@ static loc_nmea_sv_meta* loc_nmea_sv_meta_init(loc_nmea_sv_meta& sv_meta, return NULL; } sv_meta.signalId = convert_signalType_to_signalId(signalType); + sv_meta.totalSvUsedCount = + get_sv_count_from_mask(sv_cache_info.gps_used_mask, + GPS_SV_PRN_MAX - GPS_SV_PRN_MIN + 1) + + get_sv_count_from_mask(sv_cache_info.glo_used_mask, + GLO_SV_PRN_MAX - GLO_SV_PRN_MIN + 1) + + get_sv_count_from_mask(sv_cache_info.gal_used_mask, + GAL_SV_PRN_MAX - GAL_SV_PRN_MIN + 1) + + get_sv_count_from_mask(sv_cache_info.qzss_used_mask, + QZSS_SV_PRN_MAX - QZSS_SV_PRN_MIN + 1) + + get_sv_count_from_mask(sv_cache_info.bds_used_mask, + BDS_SV_PRN_MAX - BDS_SV_PRN_MIN + 1) + + get_sv_count_from_mask(sv_cache_info.navic_used_mask, + NAVIC_SV_PRN_MAX - NAVIC_SV_PRN_MIN + 1); if (needCombine && (sv_cache_info.gps_used_mask ? 1 : 0) + (sv_cache_info.glo_used_mask ? 1 : 0) + @@ -532,27 +580,27 @@ static uint32_t loc_nmea_generate_GSA(const GpsLocationExtended &locationExtende int length = 0; uint32_t svUsedCount = 0; - uint32_t svUsedList[32] = {0}; + uint32_t svUsedList[64] = {0}; char fixType = '\0'; const char* talker = sv_meta_p->talker; uint32_t svIdOffset = sv_meta_p->svIdOffset; - uint32_t mask = sv_meta_p->mask; + uint64_t mask = sv_meta_p->mask; - for (uint8_t i = 1; mask > 0 && svUsedCount < 32; i++) + for (uint8_t i = 1; mask > 0 && svUsedCount < 64; i++) { if (mask & 1) svUsedList[svUsedCount++] = i + svIdOffset; mask = mask >> 1; } - if (svUsedCount == 0 && GNSS_SV_TYPE_GPS != sv_meta_p->svType) + if (svUsedCount == 0) return 0; - if (svUsedCount == 0) + if (sv_meta_p->totalSvUsedCount == 0) fixType = '1'; // no fix - else if (svUsedCount <= 3) + else if (sv_meta_p->totalSvUsedCount <= 3) fixType = '2'; // 2D fix else fixType = '3'; // 3D fix @@ -665,10 +713,7 @@ static void loc_nmea_generate_GSV(const GnssSvNotification &svNotify, int svCount = sv_meta_p->svCount; if (svCount <= 0) { - // no svs in view, so just send a blank $--GSV sentence - snprintf(sentence, lengthRemaining, "$%sGSV,1,1,0,%X", talker, sv_meta_p->signalId); - length = loc_nmea_put_checksum(sentence, bufSize); - nmeaArraystr.push_back(sentence); + LOC_LOGV("No SV in view for talker ID:%s, signal ID:%X", talker, sv_meta_p->signalId); return; } @@ -1035,19 +1080,22 @@ void loc_nmea_generate_pos(const UlpLocation &location, 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; + 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; + 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; + locationExtended.gnss_sv_used_ids.gal_sv_used_ids_mask; sv_cache_info.bds_used_mask = - (uint32_t)locationExtended.gnss_sv_used_ids.qzss_sv_used_ids_mask; + locationExtended.gnss_sv_used_ids.bds_sv_used_ids_mask; + sv_cache_info.qzss_used_mask = + locationExtended.gnss_sv_used_ids.qzss_sv_used_ids_mask; + sv_cache_info.navic_used_mask = + locationExtended.gnss_sv_used_ids.navic_sv_used_ids_mask; } if (generate_nmea) { char talker[3] = {'G', 'P', '\0'}; + char modeIndicator[7] = {0}; uint32_t svUsedCount = 0; uint32_t count = 0; loc_nmea_sv_meta sv_meta; @@ -1093,13 +1141,12 @@ void loc_nmea_generate_pos(const UlpLocation &location, talker[1] = sv_meta.talker[1]; } - // -------------------------- - // ---$PQGSA/$GNGSA (QZSS)--- - // -------------------------- - + // ---------------------------- + // ---$GBGSA/$GNGSA (BEIDOU)--- + // ---------------------------- count = loc_nmea_generate_GSA(locationExtended, sentence, sizeof(sentence), - loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_QZSS, - GNSS_SIGNAL_QZSS_L1CA, true), nmeaArraystr); + loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_BEIDOU, + GNSS_SIGNAL_BEIDOU_B1I, true), nmeaArraystr); if (count > 0) { svUsedCount += count; @@ -1107,12 +1154,13 @@ void loc_nmea_generate_pos(const UlpLocation &location, talker[1] = sv_meta.talker[1]; } - // ---------------------------- - // ---$PQGSA/$GNGSA (BEIDOU)--- - // ---------------------------- + // -------------------------- + // ---$GQGSA/$GNGSA (QZSS)--- + // -------------------------- + count = loc_nmea_generate_GSA(locationExtended, sentence, sizeof(sentence), - loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_BEIDOU, - GNSS_SIGNAL_BEIDOU_B1I, true), nmeaArraystr); + loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_QZSS, + GNSS_SIGNAL_QZSS_L1CA, true), nmeaArraystr); if (count > 0) { svUsedCount += count; @@ -1461,17 +1509,49 @@ void loc_nmea_generate_pos(const UlpLocation &location, pMarker += length; lengthRemaining -= length; - if (!(location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_LAT_LONG)) - // N means no fix - length = snprintf(pMarker, lengthRemaining, "%c,", 'N'); + if(!(sv_cache_info.gps_used_mask ? 1 : 0)) + modeIndicator[0] = 'N'; else if (LOC_NAV_MASK_SBAS_CORRECTION_IONO & locationExtended.navSolutionMask) - // D means differential - length = snprintf(pMarker, lengthRemaining, "%c,", 'D'); + modeIndicator[0] = 'D'; else if (LOC_POS_TECH_MASK_SENSORS == locationExtended.tech_mask) - // E means estimated (dead reckoning) - length = snprintf(pMarker, lengthRemaining, "%c,", 'E'); - else // A means autonomous - length = snprintf(pMarker, lengthRemaining, "%c,", 'A'); + modeIndicator[0] = 'E'; + else + modeIndicator[0] = 'A'; + if(!(sv_cache_info.glo_used_mask ? 1 : 0)) + modeIndicator[1] = 'N'; + else if (LOC_POS_TECH_MASK_SENSORS == locationExtended.tech_mask) + modeIndicator[1] = 'E'; + else + modeIndicator[1] = 'A'; + if(!(sv_cache_info.gal_used_mask ? 1 : 0)) + modeIndicator[2] = 'N'; + else if (LOC_POS_TECH_MASK_SENSORS == locationExtended.tech_mask) + modeIndicator[2] = 'E'; + else + modeIndicator[2] = 'A'; + if(!(sv_cache_info.bds_used_mask ? 1 : 0)) + modeIndicator[3] = 'N'; + else if (LOC_POS_TECH_MASK_SENSORS == locationExtended.tech_mask) + modeIndicator[3] = 'E'; + else + modeIndicator[3] = 'A'; + if(!(sv_cache_info.qzss_used_mask ? 1 : 0)) + modeIndicator[4] = 'N'; + else if (LOC_POS_TECH_MASK_SENSORS == locationExtended.tech_mask) + modeIndicator[4] = 'E'; + else + modeIndicator[4] = 'A'; + if(!(sv_cache_info.navic_used_mask ? 1 : 0)) + modeIndicator[5] = 'N'; + else if (LOC_POS_TECH_MASK_SENSORS == locationExtended.tech_mask) + modeIndicator[5] = 'E'; + else + modeIndicator[5] = 'A'; + modeIndicator[6] = '\0'; + for(int index = 5; index > 0 && 'N' == modeIndicator[index]; index--) { + modeIndicator[index] = '\0'; + } + length = snprintf(pMarker, lengthRemaining,"%s,", modeIndicator); pMarker += length; lengthRemaining -= length; @@ -1687,10 +1767,6 @@ void loc_nmea_generate_pos(const UlpLocation &location, length = loc_nmea_put_checksum(sentence, sizeof(sentence)); nmeaArraystr.push_back(sentence); - strlcpy(sentence, "$GNGSA,A,1,,,,,,,,,,,,,,,,", sizeof(sentence)); - length = loc_nmea_put_checksum(sentence, sizeof(sentence)); - nmeaArraystr.push_back(sentence); - strlcpy(sentence, "$GPVTG,,T,,M,,N,,K,N", sizeof(sentence)); length = loc_nmea_put_checksum(sentence, sizeof(sentence)); nmeaArraystr.push_back(sentence); -- cgit v1.2.3