Android Ublox GPS 驱动

/* * Copyright (C) 2010 The Android Open Source Project * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. */ /* this implements a GPS hardware library for the Android emulator. * the following code should be built as a shared library that will be * placed into /system/lib/hw/gps.goldfish.so * * it will be loaded by the code in hardware/libhardware/hardware.c * which is itself called from android_location_GpsLocationProvider.cpp ****************************************************************************** ****************************************************************************** * * Modified by liukun321 GJGJ * http://blog.csdn.net/liukun321 * ****************************************************************************** ******************************************************************************/ #include <errno.h> #include <pthread.h> #include <fcntl.h> #include <sys/epoll.h> #include <math.h> #include <time.h> #include <stdio.h> #include <stdlib.h> #include <unistd.h> #include <sys/types.h> #include <sys/stat.h> #include <termios.h> #include <errno.h> #define LOG_TAG "gps_Ublox6M" #include <cutils/log.h> #include <cutils/sockets.h> #include <hardware/gps.h> #include <hardware/qemud.h> #include <hardware/hardware.h> /* the name of the qemud-controlled socket */ #define QEMU_CHANNEL_NAME "gps" #define GPS_DEBUG 0 #define Ublox_6M 1 #if GPS_DEBUG # define D(...) LOGD(__VA_ARGS__) #else # define D(...) ((void)0) #endif /*****************************************************************/ /*****************************************************************/ /***** *****/ /***** N M E A T O K E N I Z E R *****/ /***** *****/ /*****************************************************************/ /*****************************************************************/ typedef struct { const char* p; const char* end; } Token; #define MAX_NMEA_TOKENS 16 typedef struct { int count; Token tokens[ MAX_NMEA_TOKENS ]; } NmeaTokenizer; /*********************************************************************/ GpsStatus g_status; static int nmea_tokenizer_init( NmeaTokenizer* t, const char* p, const char* end ) { int count = 0; char* q; // the initial '$' is optional if (p < end && p[0] == '$') p += 1; // remove trailing newline if (end > p && end[-1] == '\n') { end -= 1; if (end > p && end[-1] == '\r') end -= 1; } // get rid of checksum at the end of the sentecne if (end >= p+3 && end[-3] == '*') { end -= 3; } while (p < end) { const char* q = p; q = memchr(p, ',', end-p); if (q == NULL) q = end; if (q >= p) {////////////////////////////////////////////////////////////////////////////// if (count < MAX_NMEA_TOKENS) { t->tokens[count].p = p; t->tokens[count].end = q; count += 1; } } if (q < end) q += 1; p = q; } t->count = count; return count; } static Token nmea_tokenizer_get( NmeaTokenizer* t, int index ) { Token tok; static const char* dummy = ""; if (index < 0 || index >= t->count) { tok.p = tok.end = dummy; } else tok = t->tokens[index]; return tok; } static int str2int( const char* p, const char* end ) { int result = 0; int len = end - p; for ( ; len > 0; len--, p++ ) { int c; if (p >= end) goto Fail; c = *p - '0'; if ((unsigned)c >= 10) goto Fail; result = result*10 + c; } return result; Fail: return -1; } static double str2float( const char* p, const char* end ) { int result = 0; int len = end - p; char temp[16]; if (len >= (int)sizeof(temp)) return 0.; memcpy( temp, p, len ); temp[len] = 0; return strtod( temp, NULL ); } /*****************************************************************/ /*****************************************************************/ /***** *****/ /***** N M E A P A R S E R *****/ /***** *****/ /*****************************************************************/ /*****************************************************************/ #define NMEA_MAX_SIZE 83 typedef struct { int pos; int overflow; int utc_year; int utc_mon; int utc_day; int utc_diff; GpsLocation fix; //******************************** GpsSvStatus sv_status; int sv_status_changed; #ifdef Ublox_6M GpsCallbacks callback; #else //********************************* gps_location_callback callback; #endif char in[ NMEA_MAX_SIZE+1 ]; } NmeaReader; static void nmea_reader_update_utc_diff( NmeaReader* r ) { time_t now = time(NULL); struct tm tm_local; struct tm tm_utc; long time_local, time_utc; gmtime_r( &now, &tm_utc ); localtime_r( &now, &tm_local ); time_local = tm_local.tm_sec + 60*(tm_local.tm_min + 60*(tm_local.tm_hour + 24*(tm_local.tm_yday + 365*tm_local.tm_year))); time_utc = tm_utc.tm_sec + 60*(tm_utc.tm_min + 60*(tm_utc.tm_hour + 24*(tm_utc.tm_yday + 365*tm_utc.tm_year))); r->utc_diff = time_local - time_utc; } static void nmea_reader_init( NmeaReader* r ) { memset( r, 0, sizeof(*r) ); r->pos = 0; r->overflow = 0; r->utc_year = -1; r->utc_mon = -1; r->utc_day = -1; #ifdef Ublox_6M r->callback.sv_status_cb = NULL;////////////////////////////////////////// r->callback.nmea_cb = NULL; r->callback.location_cb = NULL; r->callback.status_cb = NULL; #else r->callback = NULL; #endif r->fix.size = sizeof(r->fix); nmea_reader_update_utc_diff( r ); } static void nmea_reader_set_callback( NmeaReader* r, gps_location_callback cb ) { #ifdef Ublox_6M r->callback.location_cb = cb;////////////////////////////////////////////////// #else r->callback = cb; #endif if (cb != NULL && r->fix.flags != 0) { D("%s: sending latest fix to new callback", __FUNCTION__); #ifdef Ublox_6M r->callback.location_cb( &r->fix );///////////////////////////////////////////// #else r->fix.flags = 0; #endif } } static int nmea_reader_update_time( NmeaReader* r, Token tok ) { int hour, minute; double seconds; struct tm tm; time_t fix_time; if (tok.p + 6 > tok.end) return -1; if (r->utc_year < 0) { // no date yet, get current one time_t now = time(NULL); gmtime_r( &now, &tm ); r->utc_year = tm.tm_year + 1900; r->utc_mon = tm.tm_mon + 1; r->utc_day = tm.tm_mday; } hour = str2int(tok.p, tok.p+2); minute = str2int(tok.p+2, tok.p+4); seconds = str2float(tok.p+4, tok.end); tm.tm_hour = hour; tm.tm_min = minute; tm.tm_sec = (int) seconds; tm.tm_year = r->utc_ye