1 /* Copyright (c) 2012, The Linux Foundation. All rights reserved. 2 * 3 * Redistribution and use in source and binary forms, with or without 4 * modification, are permitted provided that the following conditions are 5 * met: 6 * * Redistributions of source code must retain the above copyright 7 * notice, this list of conditions and the following disclaimer. 8 * * Redistributions in binary form must reproduce the above 9 * copyright notice, this list of conditions and the following 10 * disclaimer in the documentation and/or other materials provided 11 * with the distribution. 12 * * Neither the name of The Linux Foundation nor the names of its 13 * contributors may be used to endorse or promote products derived 14 * from this software without specific prior written permission. 15 * 16 * THIS SOFTWARE IS PROVIDED "AS IS" AND ANY EXPRESS OR IMPLIED 17 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 18 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT 19 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS 20 * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 21 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 22 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR 23 * BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 24 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE 25 * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN 26 * IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 27 * 28 */ 29 30 #define LOG_NDDEBUG 0 31 #define LOG_TAG "LocSvc_eng_nmea" 32 #define GPS_PRN_START 1 33 #define GPS_PRN_END 32 34 #define GLONASS_PRN_START 65 35 #define GLONASS_PRN_END 96 36 #include <loc_eng.h> 37 #include <loc_eng_nmea.h> 38 #include <math.h> 39 #include "log_util.h" 40 41 /*=========================================================================== 42 FUNCTION loc_eng_nmea_send 43 44 DESCRIPTION 45 send out NMEA sentence 46 47 DEPENDENCIES 48 NONE 49 50 RETURN VALUE 51 Total length of the nmea sentence 52 53 SIDE EFFECTS 54 N/A 55 56 ===========================================================================*/ 57 void loc_eng_nmea_send(char *pNmea, int length, loc_eng_data_s_type *loc_eng_data_p) 58 { 59 struct timeval tv; 60 gettimeofday(&tv, (struct timezone *) NULL); 61 int64_t now = tv.tv_sec * 1000LL + tv.tv_usec / 1000; 62 if (loc_eng_data_p->nmea_cb != NULL) 63 loc_eng_data_p->nmea_cb(now, pNmea, length); 64 LOC_LOGD("NMEA <%s", pNmea); 65 } 66 67 /*=========================================================================== 68 FUNCTION loc_eng_nmea_put_checksum 69 70 DESCRIPTION 71 Generate NMEA sentences generated based on position report 72 73 DEPENDENCIES 74 NONE 75 76 RETURN VALUE 77 Total length of the nmea sentence 78 79 SIDE EFFECTS 80 N/A 81 82 ===========================================================================*/ 83 int loc_eng_nmea_put_checksum(char *pNmea, int maxSize) 84 { 85 uint8_t checksum = 0; 86 int length = 0; 87 88 pNmea++; //skip the $ 89 while (*pNmea != '\0') 90 { 91 checksum ^= *pNmea++; 92 length++; 93 } 94 95 int checksumLength = snprintf(pNmea,(maxSize-length-1),"*%02X\r\n", checksum); 96 return (length + checksumLength); 97 } 98 99 /*=========================================================================== 100 FUNCTION loc_eng_nmea_generate_pos 101 102 DESCRIPTION 103 Generate NMEA sentences generated based on position report 104 105 DEPENDENCIES 106 NONE 107 108 RETURN VALUE 109 0 110 111 SIDE EFFECTS 112 N/A 113 114 ===========================================================================*/ 115 void loc_eng_nmea_generate_pos(loc_eng_data_s_type *loc_eng_data_p, 116 const UlpLocation &location, 117 const GpsLocationExtended &locationExtended, 118 unsigned char generate_nmea) 119 { 120 ENTRY_LOG(); 121 time_t utcTime(location.gpsLocation.timestamp/1000); 122 tm * pTm = gmtime(&utcTime); 123 if (NULL == pTm) { 124 LOC_LOGE("gmtime failed"); 125 return; 126 } 127 128 char sentence[NMEA_SENTENCE_MAX_LENGTH] = {0}; 129 char* pMarker = sentence; 130 int lengthRemaining = sizeof(sentence); 131 int length = 0; 132 int utcYear = pTm->tm_year % 100; // 2 digit year 133 int utcMonth = pTm->tm_mon + 1; // tm_mon starts at zero 134 int utcDay = pTm->tm_mday; 135 int utcHours = pTm->tm_hour; 136 int utcMinutes = pTm->tm_min; 137 int utcSeconds = pTm->tm_sec; 138 139 if (generate_nmea) { 140 // ------------------ 141 // ------$GPGSA------ 142 // ------------------ 143 144 uint32_t svUsedCount = 0; 145 uint32_t svUsedList[32] = {0}; 146 uint32_t mask = loc_eng_data_p->sv_used_mask; 147 for (uint8_t i = 1; mask > 0 && svUsedCount < 32; i++) 148 { 149 if (mask & 1) 150 svUsedList[svUsedCount++] = i; 151 mask = mask >> 1; 152 } 153 // clear the cache so they can't be used again 154 loc_eng_data_p->sv_used_mask = 0; 155 156 char fixType; 157 if (svUsedCount == 0) 158 fixType = '1'; // no fix 159 else if (svUsedCount <= 3) 160 fixType = '2'; // 2D fix 161 else 162 fixType = '3'; // 3D fix 163 164 length = snprintf(pMarker, lengthRemaining, "$GPGSA,A,%c,", fixType); 165 166 if (length < 0 || length >= lengthRemaining) 167 { 168 LOC_LOGE("NMEA Error in string formatting"); 169 return; 170 } 171 pMarker += length; 172 lengthRemaining -= length; 173 174 for (uint8_t i = 0; i < 12; i++) // only the first 12 sv go in sentence 175 { 176 if (i < svUsedCount) 177 length = snprintf(pMarker, lengthRemaining, "%02d,", svUsedList[i]); 178 else 179 length = snprintf(pMarker, lengthRemaining, ","); 180 181 if (length < 0 || length >= lengthRemaining) 182 { 183 LOC_LOGE("NMEA Error in string formatting"); 184 return; 185 } 186 pMarker += length; 187 lengthRemaining -= length; 188 } 189 190 if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DOP) 191 { // dop is in locationExtended, (QMI) 192 length = snprintf(pMarker, lengthRemaining, "%.1f,%.1f,%.1f", 193 locationExtended.pdop, 194 locationExtended.hdop, 195 locationExtended.vdop); 196 } 197 else if (loc_eng_data_p->pdop > 0 && loc_eng_data_p->hdop > 0 && loc_eng_data_p->vdop > 0) 198 { // dop was cached from sv report (RPC) 199 length = snprintf(pMarker, lengthRemaining, "%.1f,%.1f,%.1f", 200 loc_eng_data_p->pdop, 201 loc_eng_data_p->hdop, 202 loc_eng_data_p->vdop); 203 } 204 else 205 { // no dop 206 length = snprintf(pMarker, lengthRemaining, ",,"); 207 } 208 209 length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); 210 loc_eng_nmea_send(sentence, length, loc_eng_data_p); 211 212 // ------------------ 213 // ------$GPVTG------ 214 // ------------------ 215 216 pMarker = sentence; 217 lengthRemaining = sizeof(sentence); 218 219 if (location.gpsLocation.flags & GPS_LOCATION_HAS_BEARING) 220 { 221 float magTrack = location.gpsLocation.bearing; 222 if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_MAG_DEV) 223 { 224 float magTrack = location.gpsLocation.bearing - locationExtended.magneticDeviation; 225 if (magTrack < 0.0) 226 magTrack += 360.0; 227 else if (magTrack > 360.0) 228 magTrack -= 360.0; 229 } 230 231 length = snprintf(pMarker, lengthRemaining, "$GPVTG,%.1lf,T,%.1lf,M,", location.gpsLocation.bearing, magTrack); 232 } 233 else 234 { 235 length = snprintf(pMarker, lengthRemaining, "$GPVTG,,T,,M,"); 236 } 237 238 if (length < 0 || length >= lengthRemaining) 239 { 240 LOC_LOGE("NMEA Error in string formatting"); 241 return; 242 } 243 pMarker += length; 244 lengthRemaining -= length; 245 246 if (location.gpsLocation.flags & GPS_LOCATION_HAS_SPEED) 247 { 248 float speedKnots = location.gpsLocation.speed * (3600.0/1852.0); 249 float speedKmPerHour = location.gpsLocation.speed * 3.6; 250 251 length = snprintf(pMarker, lengthRemaining, "%.1lf,N,%.1lf,K,", speedKnots, speedKmPerHour); 252 } 253 else 254 { 255 length = snprintf(pMarker, lengthRemaining, ",N,,K,"); 256 } 257 258 if (length < 0 || length >= lengthRemaining) 259 { 260 LOC_LOGE("NMEA Error in string formatting"); 261 return; 262 } 263 pMarker += length; 264 lengthRemaining -= length; 265 266 if (!(location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG)) 267 length = snprintf(pMarker, lengthRemaining, "%c", 'N'); // N means no fix 268 else if (LOC_POSITION_MODE_STANDALONE == loc_eng_data_p->adapter->getPositionMode().mode) 269 length = snprintf(pMarker, lengthRemaining, "%c", 'A'); // A means autonomous 270 else 271 length = snprintf(pMarker, lengthRemaining, "%c", 'D'); // D means differential 272 273 length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); 274 loc_eng_nmea_send(sentence, length, loc_eng_data_p); 275 276 // ------------------ 277 // ------$GPRMC------ 278 // ------------------ 279 280 pMarker = sentence; 281 lengthRemaining = sizeof(sentence); 282 283 length = snprintf(pMarker, lengthRemaining, "$GPRMC,%02d%02d%02d,A," , 284 utcHours, utcMinutes, utcSeconds); 285 286 if (length < 0 || length >= lengthRemaining) 287 { 288 LOC_LOGE("NMEA Error in string formatting"); 289 return; 290 } 291 pMarker += length; 292 lengthRemaining -= length; 293 294 if (location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG) 295 { 296 double latitude = location.gpsLocation.latitude; 297 double longitude = location.gpsLocation.longitude; 298 char latHemisphere; 299 char lonHemisphere; 300 double latMinutes; 301 double lonMinutes; 302 303 if (latitude > 0) 304 { 305 latHemisphere = 'N'; 306 } 307 else 308 { 309 latHemisphere = 'S'; 310 latitude *= -1.0; 311 } 312 313 if (longitude < 0) 314 { 315 lonHemisphere = 'W'; 316 longitude *= -1.0; 317 } 318 else 319 { 320 lonHemisphere = 'E'; 321 } 322 323 latMinutes = fmod(latitude * 60.0 , 60.0); 324 lonMinutes = fmod(longitude * 60.0 , 60.0); 325 326 length = snprintf(pMarker, lengthRemaining, "%02d%09.6lf,%c,%03d%09.6lf,%c,", 327 (uint8_t)floor(latitude), latMinutes, latHemisphere, 328 (uint8_t)floor(longitude),lonMinutes, lonHemisphere); 329 } 330 else 331 { 332 length = snprintf(pMarker, lengthRemaining,",,,,"); 333 } 334 335 if (length < 0 || length >= lengthRemaining) 336 { 337 LOC_LOGE("NMEA Error in string formatting"); 338 return; 339 } 340 pMarker += length; 341 lengthRemaining -= length; 342 343 if (location.gpsLocation.flags & GPS_LOCATION_HAS_SPEED) 344 { 345 float speedKnots = location.gpsLocation.speed * (3600.0/1852.0); 346 length = snprintf(pMarker, lengthRemaining, "%.1lf,", speedKnots); 347 } 348 else 349 { 350 length = snprintf(pMarker, lengthRemaining, ","); 351 } 352 353 if (length < 0 || length >= lengthRemaining) 354 { 355 LOC_LOGE("NMEA Error in string formatting"); 356 return; 357 } 358 pMarker += length; 359 lengthRemaining -= length; 360 361 if (location.gpsLocation.flags & GPS_LOCATION_HAS_BEARING) 362 { 363 length = snprintf(pMarker, lengthRemaining, "%.1lf,", location.gpsLocation.bearing); 364 } 365 else 366 { 367 length = snprintf(pMarker, lengthRemaining, ","); 368 } 369 370 if (length < 0 || length >= lengthRemaining) 371 { 372 LOC_LOGE("NMEA Error in string formatting"); 373 return; 374 } 375 pMarker += length; 376 lengthRemaining -= length; 377 378 length = snprintf(pMarker, lengthRemaining, "%2.2d%2.2d%2.2d,", 379 utcDay, utcMonth, utcYear); 380 381 if (length < 0 || length >= lengthRemaining) 382 { 383 LOC_LOGE("NMEA Error in string formatting"); 384 return; 385 } 386 pMarker += length; 387 lengthRemaining -= length; 388 389 if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_MAG_DEV) 390 { 391 float magneticVariation = locationExtended.magneticDeviation; 392 char direction; 393 if (magneticVariation < 0.0) 394 { 395 direction = 'W'; 396 magneticVariation *= -1.0; 397 } 398 else 399 { 400 direction = 'E'; 401 } 402 403 length = snprintf(pMarker, lengthRemaining, "%.1lf,%c,", 404 magneticVariation, direction); 405 } 406 else 407 { 408 length = snprintf(pMarker, lengthRemaining, ",,"); 409 } 410 411 if (length < 0 || length >= lengthRemaining) 412 { 413 LOC_LOGE("NMEA Error in string formatting"); 414 return; 415 } 416 pMarker += length; 417 lengthRemaining -= length; 418 419 if (!(location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG)) 420 length = snprintf(pMarker, lengthRemaining, "%c", 'N'); // N means no fix 421 else if (LOC_POSITION_MODE_STANDALONE == loc_eng_data_p->adapter->getPositionMode().mode) 422 length = snprintf(pMarker, lengthRemaining, "%c", 'A'); // A means autonomous 423 else 424 length = snprintf(pMarker, lengthRemaining, "%c", 'D'); // D means differential 425 426 length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); 427 loc_eng_nmea_send(sentence, length, loc_eng_data_p); 428 429 // ------------------ 430 // ------$GPGGA------ 431 // ------------------ 432 433 pMarker = sentence; 434 lengthRemaining = sizeof(sentence); 435 436 length = snprintf(pMarker, lengthRemaining, "$GPGGA,%02d%02d%02d," , 437 utcHours, utcMinutes, utcSeconds); 438 439 if (length < 0 || length >= lengthRemaining) 440 { 441 LOC_LOGE("NMEA Error in string formatting"); 442 return; 443 } 444 pMarker += length; 445 lengthRemaining -= length; 446 447 if (location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG) 448 { 449 double latitude = location.gpsLocation.latitude; 450 double longitude = location.gpsLocation.longitude; 451 char latHemisphere; 452 char lonHemisphere; 453 double latMinutes; 454 double lonMinutes; 455 456 if (latitude > 0) 457 { 458 latHemisphere = 'N'; 459 } 460 else 461 { 462 latHemisphere = 'S'; 463 latitude *= -1.0; 464 } 465 466 if (longitude < 0) 467 { 468 lonHemisphere = 'W'; 469 longitude *= -1.0; 470 } 471 else 472 { 473 lonHemisphere = 'E'; 474 } 475 476 latMinutes = fmod(latitude * 60.0 , 60.0); 477 lonMinutes = fmod(longitude * 60.0 , 60.0); 478 479 length = snprintf(pMarker, lengthRemaining, "%02d%09.6lf,%c,%03d%09.6lf,%c,", 480 (uint8_t)floor(latitude), latMinutes, latHemisphere, 481 (uint8_t)floor(longitude),lonMinutes, lonHemisphere); 482 } 483 else 484 { 485 length = snprintf(pMarker, lengthRemaining,",,,,"); 486 } 487 488 if (length < 0 || length >= lengthRemaining) 489 { 490 LOC_LOGE("NMEA Error in string formatting"); 491 return; 492 } 493 pMarker += length; 494 lengthRemaining -= length; 495 496 char gpsQuality; 497 if (!(location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG)) 498 gpsQuality = '0'; // 0 means no fix 499 else if (LOC_POSITION_MODE_STANDALONE == loc_eng_data_p->adapter->getPositionMode().mode) 500 gpsQuality = '1'; // 1 means GPS fix 501 else 502 gpsQuality = '2'; // 2 means DGPS fix 503 504 if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DOP) 505 { // dop is in locationExtended, (QMI) 506 length = snprintf(pMarker, lengthRemaining, "%c,%02d,%.1f,", 507 gpsQuality, svUsedCount, locationExtended.hdop); 508 } 509 else if (loc_eng_data_p->pdop > 0 && loc_eng_data_p->hdop > 0 && loc_eng_data_p->vdop > 0) 510 { // dop was cached from sv report (RPC) 511 length = snprintf(pMarker, lengthRemaining, "%c,%02d,%.1f,", 512 gpsQuality, svUsedCount, loc_eng_data_p->hdop); 513 } 514 else 515 { // no hdop 516 length = snprintf(pMarker, lengthRemaining, "%c,%02d,,", 517 gpsQuality, svUsedCount); 518 } 519 520 if (length < 0 || length >= lengthRemaining) 521 { 522 LOC_LOGE("NMEA Error in string formatting"); 523 return; 524 } 525 pMarker += length; 526 lengthRemaining -= length; 527 528 if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_ALTITUDE_MEAN_SEA_LEVEL) 529 { 530 length = snprintf(pMarker, lengthRemaining, "%.1lf,M,", 531 locationExtended.altitudeMeanSeaLevel); 532 } 533 else 534 { 535 length = snprintf(pMarker, lengthRemaining,",,"); 536 } 537 538 if (length < 0 || length >= lengthRemaining) 539 { 540 LOC_LOGE("NMEA Error in string formatting"); 541 return; 542 } 543 pMarker += length; 544 lengthRemaining -= length; 545 546 if ((location.gpsLocation.flags & GPS_LOCATION_HAS_ALTITUDE) && 547 (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_ALTITUDE_MEAN_SEA_LEVEL)) 548 { 549 length = snprintf(pMarker, lengthRemaining, "%.1lf,M,,", 550 location.gpsLocation.altitude - locationExtended.altitudeMeanSeaLevel); 551 } 552 else 553 { 554 length = snprintf(pMarker, lengthRemaining,",,,"); 555 } 556 557 length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); 558 loc_eng_nmea_send(sentence, length, loc_eng_data_p); 559 560 } 561 //Send blank NMEA reports for non-final fixes 562 else { 563 strlcpy(sentence, "$GPGSA,A,1,,,,,,,,,,,,,,,", sizeof(sentence)); 564 length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); 565 loc_eng_nmea_send(sentence, length, loc_eng_data_p); 566 567 strlcpy(sentence, "$GPVTG,,T,,M,,N,,K,N", sizeof(sentence)); 568 length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); 569 loc_eng_nmea_send(sentence, length, loc_eng_data_p); 570 571 strlcpy(sentence, "$GPRMC,,V,,,,,,,,,,N", sizeof(sentence)); 572 length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); 573 loc_eng_nmea_send(sentence, length, loc_eng_data_p); 574 575 strlcpy(sentence, "$GPGGA,,,,,,0,,,,,,,,", sizeof(sentence)); 576 length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); 577 loc_eng_nmea_send(sentence, length, loc_eng_data_p); 578 } 579 // clear the dop cache so they can't be used again 580 loc_eng_data_p->pdop = 0; 581 loc_eng_data_p->hdop = 0; 582 loc_eng_data_p->vdop = 0; 583 584 EXIT_LOG(%d, 0); 585 } 586 587 588 589 /*=========================================================================== 590 FUNCTION loc_eng_nmea_generate_sv 591 592 DESCRIPTION 593 Generate NMEA sentences generated based on sv report 594 595 DEPENDENCIES 596 NONE 597 598 RETURN VALUE 599 0 600 601 SIDE EFFECTS 602 N/A 603 604 ===========================================================================*/ 605 void loc_eng_nmea_generate_sv(loc_eng_data_s_type *loc_eng_data_p, 606 const GpsSvStatus &svStatus, const GpsLocationExtended &locationExtended) 607 { 608 ENTRY_LOG(); 609 610 char sentence[NMEA_SENTENCE_MAX_LENGTH] = {0}; 611 char* pMarker = sentence; 612 int lengthRemaining = sizeof(sentence); 613 int length = 0; 614 int svCount = svStatus.num_svs; 615 int sentenceCount = 0; 616 int sentenceNumber = 1; 617 int svNumber = 1; 618 int gpsCount = 0; 619 int glnCount = 0; 620 621 //Count GPS SVs for saparating GPS from GLONASS and throw others 622 623 for(svNumber=1; svNumber <= svCount; svNumber++) { 624 if( (svStatus.sv_list[svNumber-1].prn >= GPS_PRN_START)&& 625 (svStatus.sv_list[svNumber-1].prn <= GPS_PRN_END) ) 626 { 627 gpsCount++; 628 } 629 else if( (svStatus.sv_list[svNumber-1].prn >= GLONASS_PRN_START) && 630 (svStatus.sv_list[svNumber-1].prn <= GLONASS_PRN_END) ) 631 { 632 glnCount++; 633 } 634 } 635 636 // ------------------ 637 // ------$GPGSV------ 638 // ------------------ 639 640 if (gpsCount <= 0) 641 { 642 // no svs in view, so just send a blank $GPGSV sentence 643 strlcpy(sentence, "$GPGSV,1,1,0,", sizeof(sentence)); 644 length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); 645 loc_eng_nmea_send(sentence, length, loc_eng_data_p); 646 } 647 else 648 { 649 svNumber = 1; 650 sentenceNumber = 1; 651 sentenceCount = gpsCount/4 + (gpsCount % 4 != 0); 652 653 while (sentenceNumber <= sentenceCount) 654 { 655 pMarker = sentence; 656 lengthRemaining = sizeof(sentence); 657 658 length = snprintf(pMarker, lengthRemaining, "$GPGSV,%d,%d,%02d", 659 sentenceCount, sentenceNumber, gpsCount); 660 661 if (length < 0 || length >= lengthRemaining) 662 { 663 LOC_LOGE("NMEA Error in string formatting"); 664 return; 665 } 666 pMarker += length; 667 lengthRemaining -= length; 668 669 for (int i=0; (svNumber <= svCount) && (i < 4); svNumber++) 670 { 671 if( (svStatus.sv_list[svNumber-1].prn >= GPS_PRN_START) && 672 (svStatus.sv_list[svNumber-1].prn <= GPS_PRN_END) ) 673 { 674 length = snprintf(pMarker, lengthRemaining,",%02d,%02d,%03d,", 675 svStatus.sv_list[svNumber-1].prn, 676 (int)(0.5 + svStatus.sv_list[svNumber-1].elevation), //float to int 677 (int)(0.5 + svStatus.sv_list[svNumber-1].azimuth)); //float to int 678 679 if (length < 0 || length >= lengthRemaining) 680 { 681 LOC_LOGE("NMEA Error in string formatting"); 682 return; 683 } 684 pMarker += length; 685 lengthRemaining -= length; 686 687 if (svStatus.sv_list[svNumber-1].snr > 0) 688 { 689 length = snprintf(pMarker, lengthRemaining,"%02d", 690 (int)(0.5 + svStatus.sv_list[svNumber-1].snr)); //float to int 691 692 if (length < 0 || length >= lengthRemaining) 693 { 694 LOC_LOGE("NMEA Error in string formatting"); 695 return; 696 } 697 pMarker += length; 698 lengthRemaining -= length; 699 } 700 701 i++; 702 } 703 704 } 705 706 length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); 707 loc_eng_nmea_send(sentence, length, loc_eng_data_p); 708 sentenceNumber++; 709 710 } //while 711 712 } //if 713 714 // ------------------ 715 // ------$GLGSV------ 716 // ------------------ 717 718 if (glnCount <= 0) 719 { 720 // no svs in view, so just send a blank $GLGSV sentence 721 strlcpy(sentence, "$GLGSV,1,1,0,", sizeof(sentence)); 722 length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); 723 loc_eng_nmea_send(sentence, length, loc_eng_data_p); 724 } 725 else 726 { 727 svNumber = 1; 728 sentenceNumber = 1; 729 sentenceCount = glnCount/4 + (glnCount % 4 != 0); 730 731 while (sentenceNumber <= sentenceCount) 732 { 733 pMarker = sentence; 734 lengthRemaining = sizeof(sentence); 735 736 length = snprintf(pMarker, lengthRemaining, "$GLGSV,%d,%d,%02d", 737 sentenceCount, sentenceNumber, glnCount); 738 739 if (length < 0 || length >= lengthRemaining) 740 { 741 LOC_LOGE("NMEA Error in string formatting"); 742 return; 743 } 744 pMarker += length; 745 lengthRemaining -= length; 746 747 for (int i=0; (svNumber <= svCount) && (i < 4); svNumber++) 748 { 749 if( (svStatus.sv_list[svNumber-1].prn >= GLONASS_PRN_START) && 750 (svStatus.sv_list[svNumber-1].prn <= GLONASS_PRN_END) ) { 751 752 length = snprintf(pMarker, lengthRemaining,",%02d,%02d,%03d,", 753 svStatus.sv_list[svNumber-1].prn, 754 (int)(0.5 + svStatus.sv_list[svNumber-1].elevation), //float to int 755 (int)(0.5 + svStatus.sv_list[svNumber-1].azimuth)); //float to int 756 757 if (length < 0 || length >= lengthRemaining) 758 { 759 LOC_LOGE("NMEA Error in string formatting"); 760 return; 761 } 762 pMarker += length; 763 lengthRemaining -= length; 764 765 if (svStatus.sv_list[svNumber-1].snr > 0) 766 { 767 length = snprintf(pMarker, lengthRemaining,"%02d", 768 (int)(0.5 + svStatus.sv_list[svNumber-1].snr)); //float to int 769 770 if (length < 0 || length >= lengthRemaining) 771 { 772 LOC_LOGE("NMEA Error in string formatting"); 773 return; 774 } 775 pMarker += length; 776 lengthRemaining -= length; 777 } 778 779 i++; 780 } 781 782 } 783 784 length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); 785 loc_eng_nmea_send(sentence, length, loc_eng_data_p); 786 sentenceNumber++; 787 788 } //while 789 790 }//if 791 792 if (svStatus.used_in_fix_mask == 0) 793 { // No sv used, so there will be no position report, so send 794 // blank NMEA sentences 795 strlcpy(sentence, "$GPGSA,A,1,,,,,,,,,,,,,,,", sizeof(sentence)); 796 length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); 797 loc_eng_nmea_send(sentence, length, loc_eng_data_p); 798 799 strlcpy(sentence, "$GPVTG,,T,,M,,N,,K,N", sizeof(sentence)); 800 length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); 801 loc_eng_nmea_send(sentence, length, loc_eng_data_p); 802 803 strlcpy(sentence, "$GPRMC,,V,,,,,,,,,,N", sizeof(sentence)); 804 length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); 805 loc_eng_nmea_send(sentence, length, loc_eng_data_p); 806 807 strlcpy(sentence, "$GPGGA,,,,,,0,,,,,,,,", sizeof(sentence)); 808 length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); 809 loc_eng_nmea_send(sentence, length, loc_eng_data_p); 810 } 811 else 812 { // cache the used in fix mask, as it will be needed to send $GPGSA 813 // during the position report 814 loc_eng_data_p->sv_used_mask = svStatus.used_in_fix_mask; 815 816 // For RPC, the DOP are sent during sv report, so cache them 817 // now to be sent during position report. 818 // For QMI, the DOP will be in position report. 819 if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DOP) 820 { 821 loc_eng_data_p->pdop = locationExtended.pdop; 822 loc_eng_data_p->hdop = locationExtended.hdop; 823 loc_eng_data_p->vdop = locationExtended.vdop; 824 } 825 else 826 { 827 loc_eng_data_p->pdop = 0; 828 loc_eng_data_p->hdop = 0; 829 loc_eng_data_p->vdop = 0; 830 } 831 832 } 833 834 EXIT_LOG(%d, 0); 835 } 836
