diff options
| -rw-r--r-- | include/hardware/gps.h | 147 | ||||
| -rwxr-xr-x | rootdir/init.target.rc | 51 |
2 files changed, 134 insertions, 64 deletions
diff --git a/include/hardware/gps.h b/include/hardware/gps.h index 59da5dd..76b6cb7 100644 --- a/include/hardware/gps.h +++ b/include/hardware/gps.h @@ -51,7 +51,10 @@ typedef uint32_t GpsPositionMode; #define GPS_POSITION_MODE_STANDALONE 0 /** AGPS MS-Based mode. */ #define GPS_POSITION_MODE_MS_BASED 1 -/** AGPS MS-Assisted mode. */ +/** + * AGPS MS-Assisted mode. This mode is not maintained by the platform anymore. + * It is strongly recommended to use GPS_POSITION_MODE_MS_BASE instead. + */ #define GPS_POSITION_MODE_MS_ASSISTED 2 /** Requested recurrence mode for GPS operation. */ @@ -117,38 +120,22 @@ typedef uint16_t GpsLocationFlags; /** Flags used to specify which aiding data to delete when calling delete_aiding_data(). */ -typedef uint32_t GpsAidingData; +typedef uint16_t GpsAidingData; // IMPORTANT: Note that the following values must match // constants in GpsLocationProvider.java. -#define GPS_DELETE_EPHEMERIS 0x00000001 -#define GPS_DELETE_ALMANAC 0x00000002 -#define GPS_DELETE_POSITION 0x00000004 -#define GPS_DELETE_TIME 0x00000008 -#define GPS_DELETE_IONO 0x00000010 -#define GPS_DELETE_UTC 0x00000020 -#define GPS_DELETE_HEALTH 0x00000040 -#define GPS_DELETE_SVDIR 0x00000080 -#define GPS_DELETE_SVSTEER 0x00000100 -#define GPS_DELETE_SADATA 0x00000200 -#define GPS_DELETE_RTI 0x00000400 -#define GPS_DELETE_CELLDB_INFO 0x00000800 -#define GPS_DELETE_ALMANAC_CORR 0x00001000 -#define GPS_DELETE_FREQ_BIAS_EST 0x00002000 -#define GLO_DELETE_EPHEMERIS 0x00004000 -#define GLO_DELETE_ALMANAC 0x00008000 -#define GLO_DELETE_SVDIR 0x00010000 -#define GLO_DELETE_SVSTEER 0x00020000 -#define GLO_DELETE_ALMANAC_CORR 0x00040000 -#define GPS_DELETE_TIME_GPS 0x00080000 -#define GLO_DELETE_TIME 0x00100000 -#define BDS_DELETE_SVDIR 0X00200000 -#define BDS_DELETE_SVSTEER 0X00400000 -#define BDS_DELETE_TIME 0X00800000 -#define BDS_DELETE_ALMANAC_CORR 0X01000000 -#define BDS_DELETE_EPHEMERIS 0X02000000 -#define BDS_DELETE_ALMANAC 0X04000000 - -#define GPS_DELETE_ALL 0xFFFFFFFF +#define GPS_DELETE_EPHEMERIS 0x0001 +#define GPS_DELETE_ALMANAC 0x0002 +#define GPS_DELETE_POSITION 0x0004 +#define GPS_DELETE_TIME 0x0008 +#define GPS_DELETE_IONO 0x0010 +#define GPS_DELETE_UTC 0x0020 +#define GPS_DELETE_HEALTH 0x0040 +#define GPS_DELETE_SVDIR 0x0080 +#define GPS_DELETE_SVSTEER 0x0100 +#define GPS_DELETE_SADATA 0x0200 +#define GPS_DELETE_RTI 0x0400 +#define GPS_DELETE_CELLDB_INFO 0x8000 +#define GPS_DELETE_ALL 0xFFFF /** AGPS type */ typedef uint16_t AGpsType; @@ -309,6 +296,8 @@ typedef uint32_t GpsMeasurementFlags; #define GPS_MEASUREMENT_HAS_DOPPLER_SHIFT_UNCERTAINTY (1<<16) /** A valid 'used in fix' flag is stored in the data structure. */ #define GPS_MEASUREMENT_HAS_USED_IN_FIX (1<<17) +/** The value of 'pseudorange rate' is uncorrected. */ +#define GPS_MEASUREMENT_HAS_UNCORRECTED_PSEUDORANGE_RATE (1<<18) /** * Enumeration of the available values for the GPS Measurement's loss of lock. @@ -334,6 +323,12 @@ typedef uint8_t GpsMultipathIndicator; /** * Flags indicating the GPS measurement state. + * The expected behavior here is for GPS HAL to set all the flags that applies. For + * example, if the state for a satellite is only C/A code locked and bit synchronized, + * and there is still millisecond ambiguity, the state should be set as: + * GPS_MEASUREMENT_STATE_CODE_LOCK|GPS_MEASUREMENT_STATE_BIT_SYNC|GPS_MEASUREMENT_STATE_MSEC_AMBIGUOUS + * If GPS is still searching for a satellite, the corresponding state should be set to + * GPS_MEASUREMENT_STATE_UNKNOWN(0). */ typedef uint16_t GpsMeasurementState; #define GPS_MEASUREMENT_STATE_UNKNOWN 0 @@ -341,6 +336,7 @@ typedef uint16_t GpsMeasurementState; #define GPS_MEASUREMENT_STATE_BIT_SYNC (1<<1) #define GPS_MEASUREMENT_STATE_SUBFRAME_SYNC (1<<2) #define GPS_MEASUREMENT_STATE_TOW_DECODED (1<<3) +#define GPS_MEASUREMENT_STATE_MSEC_AMBIGUOUS (1<<4) /** * Flags indicating the Accumulated Delta Range's states. @@ -352,7 +348,7 @@ typedef uint16_t GpsAccumulatedDeltaRangeState; #define GPS_ADR_STATE_CYCLE_SLIP (1<<2) /** - * Enumeration of available values to indicate the available GPS Natigation message types. + * Enumeration of available values to indicate the available GPS Navigation message types. */ typedef uint8_t GpsNavigationMessageType; /** The message type is unknown. */ @@ -366,6 +362,19 @@ typedef uint8_t GpsNavigationMessageType; /** CNAV-2 message contained in the structure. */ #define GPS_NAVIGATION_MESSAGE_TYPE_CNAV2 4 +/** + * Status of Navigation Message + * When a message is received properly without any parity error in its navigation words, the + * status should be set to NAV_MESSAGE_STATUS_PARITY_PASSED. But if a message is received + * with words that failed parity check, but GPS is able to correct those words, the status + * should be set to NAV_MESSAGE_STATUS_PARITY_REBUILT. + * No need to send any navigation message that contains words with parity error and cannot be + * corrected. + */ +typedef uint16_t NavigationMessageStatus; +#define NAV_MESSAGE_STATUS_UNKONW 0 +#define NAV_MESSAGE_STATUS_PARITY_PASSED (1<<0) +#define NAV_MESSAGE_STATUS_PARITY_REBUILT (1<<1) /** * Name for the GPS XTRA interface. @@ -613,6 +622,12 @@ typedef struct { * min_interval represents the time between fixes in milliseconds. * preferred_accuracy represents the requested fix accuracy in meters. * preferred_time represents the requested time to first fix in milliseconds. + * + * 'mode' parameter should be one of GPS_POSITION_MODE_MS_BASE + * or GPS_POSITION_MODE_STANDALONE. + * It is allowed by the platform (and it is recommended) to fallback to + * GPS_POSITION_MODE_MS_BASE if GPS_POSITION_MODE_MS_ASSISTED is passed in, and + * GPS_POSITION_MODE_MS_BASED is supported. */ int (*set_position_mode)(GpsPositionMode mode, GpsPositionRecurrence recurrence, uint32_t min_interval, uint32_t preferred_accuracy, uint32_t preferred_time); @@ -658,6 +673,12 @@ typedef struct { size_t (*get_internal_state)(char* buffer, size_t bufferSize); } GpsDebugInterface; +#pragma pack(push,4) +// We need to keep the alignment of this data structure to 4-bytes, to ensure that in 64-bit +// environments the size of this legacy definition does not collide with _v2. Implementations should +// be using _v2 and _v3, so it's OK to pay the 'unaligned' penalty in 64-bit if an old +// implementation is still in use. + /** Represents the status of AGPS. */ typedef struct { /** set to sizeof(AGpsStatus_v1) */ @@ -667,6 +688,8 @@ typedef struct { AGpsStatusValue status; } AGpsStatus_v1; +#pragma pack(pop) + /** Represents the status of AGPS augmented with a IPv4 address field. */ typedef struct { /** set to sizeof(AGpsStatus_v2) */ @@ -1349,6 +1372,9 @@ typedef struct { * * The value contains the 'drift uncertainty' in it. * If the data is available 'flags' must contain GPS_CLOCK_HAS_DRIFT. + * + * If GpsMeasurement's 'flags' field contains GPS_MEASUREMENT_HAS_UNCORRECTED_PSEUDORANGE_RATE, + * it is encouraged that this field is also provided. */ double drift_nsps; @@ -1402,17 +1428,25 @@ typedef struct { * Received GPS Time-of-Week at the measurement time, in nanoseconds. * The value is relative to the beginning of the current GPS week. * - * Given the sync state of GPS receiver, per each satellite, valid range for this field can be: - * Searching : [ 0 ] : GPS_MEASUREMENT_STATE_UNKNOWN - * Ranging code lock : [ 0 1ms ] : GPS_MEASUREMENT_STATE_CODE_LOCK is set - * Bit sync : [ 0 20ms ] : GPS_MEASUREMENT_STATE_BIT_SYNC is set - * Subframe sync : [ 0 6ms ] : GPS_MEASUREMENT_STATE_SUBFRAME_SYNC is set - * TOW decoded : [ 0 1week ] : GPS_MEASUREMENT_STATE_TOW_DECODED is set + * Given the highest sync state that can be achieved, per each satellite, valid range for + * this field can be: + * Searching : [ 0 ] : GPS_MEASUREMENT_STATE_UNKNOWN + * C/A code lock : [ 0 1ms ] : GPS_MEASUREMENT_STATE_CODE_LOCK is set + * Bit sync : [ 0 20ms ] : GPS_MEASUREMENT_STATE_BIT_SYNC is set + * Subframe sync : [ 0 6s ] : GPS_MEASUREMENT_STATE_SUBFRAME_SYNC is set + * TOW decoded : [ 0 1week ] : GPS_MEASUREMENT_STATE_TOW_DECODED is set + * + * However, if there is any ambiguity in integer millisecond, + * GPS_MEASUREMENT_STATE_MSEC_AMBIGUOUS should be set accordingly, in the 'state' field. + * + * This value must be populated if 'state' != GPS_MEASUREMENT_STATE_UNKNOWN. */ int64_t received_gps_tow_ns; /** * 1-Sigma uncertainty of the Received GPS Time-of-Week in nanoseconds. + * + * This value must be populated if 'state' != GPS_MEASUREMENT_STATE_UNKNOWN. */ int64_t received_gps_tow_uncertainty_ns; @@ -1426,11 +1460,23 @@ typedef struct { /** * Pseudorange rate at the timestamp in m/s. - * The value also includes the effects of the receiver clock frequency and satellite clock - * frequency errors. + * The correction of a given Pseudorange Rate value includes corrections for receiver and + * satellite clock frequency errors. + * + * If GPS_MEASUREMENT_HAS_UNCORRECTED_PSEUDORANGE_RATE is set in 'flags' field, this field must + * be populated with the 'uncorrected' reading. + * If GPS_MEASUREMENT_HAS_UNCORRECTED_PSEUDORANGE_RATE is not set in 'flags' field, this field + * must be populated with the 'corrected' reading. This is the default behavior. + * + * It is encouraged to provide the 'uncorrected' 'pseudorange rate', and provide GpsClock's + * 'drift' field as well. * * The value includes the 'pseudorange rate uncertainty' in it. - * A positive value indicates that the pseudorange is getting larger. + * A positive 'uncorrected' value indicates that the SV is moving away from the receiver. + * + * The sign of the 'uncorrected' 'pseudorange rate' and its relation to the sign of 'doppler + * shift' is given by the equation: + * pseudorange rate = -k * doppler shift (where k is a constant) * * This is a Mandatory value. */ @@ -1454,13 +1500,21 @@ typedef struct { /** * Accumulated delta range since the last channel reset in meters. - * The data is available if 'accumulated delta range state' != GPS_ADR_STATE_UNKNOWN. + * A positive value indicates that the SV is moving away from the receiver. + * + * The sign of the 'accumulated delta range' and its relation to the sign of 'carrier phase' + * is given by the equation: + * accumulated delta range = -k * carrier phase (where k is a constant) + * + * This value must be populated if 'accumulated delta range state' != GPS_ADR_STATE_UNKNOWN. + * However, it is expected that the data is only accurate when: + * 'accumulated delta range state' == GPS_ADR_STATE_VALID. */ double accumulated_delta_range_m; /** * 1-Sigma uncertainty of the accumulated delta range in meters. - * The data is available if 'accumulated delta range state' != GPS_ADR_STATE_UNKNOWN. + * This value must be populated if 'accumulated delta range state' != GPS_ADR_STATE_UNKNOWN. */ double accumulated_delta_range_uncertainty_m; @@ -1697,6 +1751,13 @@ typedef struct { GpsNavigationMessageType type; /** + * The status of the received navigation message. + * No need to send any navigation message that contains words with parity error and cannot be + * corrected. + */ + NavigationMessageStatus status; + + /** * Message identifier. * It provides an index so the complete Navigation Message can be assembled. i.e. fo L1 C/A * subframe 4 and 5, this value corresponds to the 'frame id' of the navigation message. diff --git a/rootdir/init.target.rc b/rootdir/init.target.rc index c7caff5..cb033c1 100755 --- a/rootdir/init.target.rc +++ b/rootdir/init.target.rc @@ -24,12 +24,21 @@ on post-fs-data chmod 0664 /data/system/yas.cfg chmod 0664 /data/system/yas-backup.cfg -# gpsd - mkdir /data/system/gps 775 root root - write /data/system/gps/.gpslogd.pipe 0 - write /data/system/gps/.gpsd.lock 0 - write /data/system/gps/.gps.interface.pipe.to_gpsd 0 - write /data/system/gps/.gps.interface.pipe.to_jni 0 +# GPS + chown root system /dev/ttySAC1 + chmod 0660 /dev/ttySAC1 + chown root system /sys/class/sec/gps/GPS_PWR_EN/value + chmod 0664 /sys/class/sec/gps/GPS_PWR_EN/value + + mkdir /data/system 0771 system system + chown system system /data/system + mkdir /data/system/gps 0771 system system + chown system system /data/system/gps + + rm /data/gps_started + rm /data/glonass_started + rm /data/smd_started + rm /data/sv_cno.info # bluetooth write /efs/bluetooth/bt_addr 0 @@ -209,10 +218,10 @@ service at_distributor /system/bin/at_distributor seclabel u:r:at_distributor:s0 service gpsd /system/bin/gpsd -c /system/etc/gps.xml - class main - socket gps seqpacket 0775 root root - user root - group system radio inet log cache misc audio net_raw sdcard_rw + class late_start + socket gps seqpacket 0775 root gps + user gps + group system radio inet log cache misc audio net_raw sdcard_rw gps ioprio be 0 seclabel u:r:gpsd:s0 @@ -234,14 +243,14 @@ service geomagneticd /system/bin/geomagneticd group system radio inet log input cache misc net_raw sdcard_rw seclabel u:r:geomagneticd:s0 -service SMD-daemon /system/bin/smdexe - class main - user root - group system radio inet log cache misc audio net_raw sdcard_rw - seclabel u:r:SMD-daemon:s0 - -service DR-daemon /system/bin/ddexe - class main - user root - group system radio inet log cache misc audio net_raw sdcard_rw - seclabel u:r:DR-daemon:s0 +#service SMD-daemon /system/bin/smdexe +# class main +# user root +# group system radio inet log cache misc audio net_raw sdcard_rw +# seclabel u:r:SMD-daemon:s0 + +#service DR-daemon /system/bin/ddexe +# class main +# user root +# group system radio inet log cache misc audio net_raw sdcard_rw +# seclabel u:r:DR-daemon:s0 |