北斗gps Android hal层so库代码
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网上下载的代码，自己编辑修改，加入了北斗定位功能，主要是修改了GSV，GSA语句的解析，在A10平台上测试良好：
北斗双模下的LOG：
$GPGSV,3,3,10,31,46,012,,32,39,287,40*79$BDGSV,1,1,04,02,45,242,43,03,00,000,34,06,00,000,32,09,38,216,37*6C$GNRMC,040059.080,A,2230.8804,N,11354.9920,E,0.83,0.00,040613,,,A*7C$GNVTG,0.00,T,,M,0.83,N,1.54,K,A*28$GNZDA,040059.080,04,06,2013,00,00*4A$GNGGA,040100.000,2230.8897,N,11355.0128,E,1,06,28.3,79.2,M,0.0,M,,*71$GNGLL,2230.8897,N,11355.0128,E,040100.000,A,0*36$GPGSA,A,3,16,20,06,32,,,,,,,,,30.4,28.3,11.2*0C$BDGSA,A,3,02,09,,,,,,,,,,,30.4,28.3,11.2*14$GPGSV,3,1,10,03,06,197,,06,19,182,33,14,50,109,,16,48,230,46*75$GPGSV,3,2,10,20,16,305,41,22,15,171,,29,23,066,22,30,00,000,25*72$GPGSV,3,3,10,31,46,012,,32,39,287,40*79$BDGSV,1,1,04,02,45,242,43,03,00,000,34,06,00,000,32,09,38,216,37*6C$GNRMC,040100.000,A,2230.8897,N,11355.0128,E,0.64,0.00,040613,,,A*72$GNVTG,0.00,T,,M,0.64,N,1.19,K,A*28$GNZDA,040100.000,04,06,2013,00,00*4F
一些命令的解释：
$GNRMC,091356.000,V,2230.8777,N,11354.9659,E,7.88,270.95,040613,,,N*63
|
这里V变成A时候表示定位成功
$GPGSV,3,1,11,01,46,169,,03,29,038,,06,13,045,,07,55,322,*74
$GPGSV,3,2,11,08,24,325,,11,72,159,,13,32,226,,16,17,081,*77
$GPGSV,3,3,11,19,49,022,,23,20,200,,28,07,296,*4D
$BDGSV,1,1,04,02,44,240,,07,64,173,,08,60,343,,10,77,244,*61
GPGSV表示GPS的GSV，BDGSV表示北斗的GSV
第一列3表示有3行GPGSV语句输出；紧接着第二列的1、2、3表示当前是第几行GSV；接着的11表示一共11颗星，接着的是4个数字为一组的信号值
$GPGSA,A,3,16,20,06,32,,,,,,,,,30.4,28.3,11.2*0C
$BDGSA,A,3,02,09,,,,,,,,,,,30.4,28.3,11.2*14
这里第3～14位，一共12位表示已经定位的卫星号，它们和GSV中可见卫星信息组中的卫星号一致，上层要判断这两个数值一致才表示可用卫星，可见
GSV中得到的是可见卫星数量，GSA中得到的是可用卫星数量，可见卫星数量>=可用卫星数量，他们就是GPS测试软件中的in view和in use数值
北斗的一些发送命令：
char *str_B115200 = "$PCAS01,5*19\r\n";
char *str_B9600 = "$PCAS01,1*1D\r\n";
char *str_save = "$PCAS00*01\r\n";//将当前配置写入flash,否则断电后恢复为默认的
char *str_beidou = "$PCAS04,2*1B\r\n"; //北斗模式
char *str_shuangmo = "$PCAS04,3*1A\r\n"; //北斗和GPS共存模式
这里的*后面的数字是异或校验，如$PCAS01,5*19这一行，'P' ^ 'C' ^ 'A' ^ 'S'^ '0' ^ '1' ^ ',' ^ '5' == 0x19；
详细的命令参考厂商的手册
下面是源代码：
Android.mk
LOCAL_PATH := $(call my-dir)#ifneq ($(TARGET_PRODUCT),sim)# HAL module implemenation, not prelinked and stored in# hw/<GPS_HARDWARE_MODULE_ID>.<ro.hardware>.soinclude $(CLEAR_VARS)LOCAL_PRELINK_MODULE := falseLOCAL_MODULE_PATH := $(TARGET_OUT_SHARED_LIBRARIES)/hwLOCAL_CFLAGS += -DQEMU_HARDWARELOCAL_SHARED_LIBRARIES := liblog libcutils libhardwareLOCAL_SRC_FILES := gps.cLOCAL_MODULE := gps.defaultLOCAL_MODULE_TAGS := optional include $(BUILD_SHARED_LIBRARY)#endif
gps.c:
/* * 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 */#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> /*Unix ??????*/#include <sys/types.h> #include <sys/stat.h> #include <termios.h> /*PPSIX ??????*/#include <errno.h> /*?????*/#define LOG_TAG "gps_qemu"#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(...) LOGE(__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 20typedef struct { int count; Token tokens[ MAX_NMEA_TOKENS ];} NmeaTokenizer;/*********************************************************************/GpsStatus g_status; static intnmea_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 Tokennmea_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 intstr2int( 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 doublestr2float( 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 83typedef 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 voidnmea_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 voidnmea_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 voidnmea_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 intnmea_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_year - 1900; tm.tm_mon = r->utc_mon - 1; tm.tm_mday = r->utc_day; tm.tm_isdst = -1; fix_time = mktime( &tm ) + r->utc_diff; r->fix.timestamp = (long long)fix_time * 1000; return 0;} static intnmea_reader_update_date( NmeaReader* r, Token date, Token time ){ Token tok = date; int day, mon, year; if (tok.p + 6 != tok.end) { D("date not properly formatted: '%.*s'", tok.end-tok.p, tok.p); return -1; } day = str2int(tok.p, tok.p+2); mon = str2int(tok.p+2, tok.p+4); year = str2int(tok.p+4, tok.p+6) + 2000; if ((day|mon|year) < 0) { D("date not properly formatted: '%.*s'", tok.end-tok.p, tok.p); return -1; } r->utc_year = year; r->utc_mon = mon; r->utc_day = day; return nmea_reader_update_time( r, time );} static doubleconvert_from_hhmm( Token tok ){ double val = str2float(tok.p, tok.end); int degrees = (int)(floor(val) / 100); double minutes = val - degrees*100.; double dcoord = degrees + minutes / 60.0; return dcoord;} static intnmea_reader_update_latlong( NmeaReader* r, Token latitude, char latitudeHemi, Token longitude, char longitudeHemi ){ double lat, lon; Token tok; tok = latitude; if (tok.p + 6 > tok.end) { D("latitude is too short: '%.*s'", tok.end-tok.p, tok.p); return -1; } lat = convert_from_hhmm(tok); if (latitudeHemi == 'S') lat = -lat; tok = longitude; if (tok.p + 6 > tok.end) { D("longitude is too short: '%.*s'", tok.end-tok.p, tok.p); return -1; } lon = convert_from_hhmm(tok); if (longitudeHemi == 'W') lon = -lon; r->fix.flags |= GPS_LOCATION_HAS_LAT_LONG; r->fix.latitude = lat; r->fix.longitude = lon; return 0;} static intnmea_reader_update_altitude( NmeaReader* r, Token altitude, Token units ){ double alt; Token tok = altitude; if (tok.p >= tok.end) return -1; r->fix.flags |= GPS_LOCATION_HAS_ALTITUDE; r->fix.altitude = str2float(tok.p, tok.end); return 0;} static intnmea_reader_update_bearing( NmeaReader* r, Token bearing ){ double alt; Token tok = bearing; if (tok.p >= tok.end) return -1; r->fix.flags |= GPS_LOCATION_HAS_BEARING; r->fix.bearing = str2float(tok.p, tok.end); return 0;} static intnmea_reader_update_speed( NmeaReader* r, Token speed ){ double alt; Token tok = speed; if (tok.p >= tok.end) return -1; r->fix.flags |= GPS_LOCATION_HAS_SPEED; r->fix.speed = str2float(tok.p, tok.end); return 0;}static int nmea_reader_update_accuracy(NmeaReader * r, Token accuracy){ double acc; Token tok = accuracy; if(tok.p >= tok.end) return -1; r->fix.accuracy = str2float(tok.p, tok.end); if(r->fix.accuracy == 99.99){ return 0; } r->fix.flags |= GPS_LOCATION_HAS_ACCURACY; return 0;}/* this is the state of our connection to the qemu_gpsd daemon */typedef struct { int init; int fd; GpsCallbacks callbacks; pthread_t thread; int control[2];} GpsState;static GpsState _gps_state[1]; static voidnmea_reader_parse( NmeaReader* r ){ /* we received a complete sentence, now parse it to generate * a new GPS fix... */ NmeaTokenizer tzer[1]; Token tok; char *ptr; D("Received: '%.*s'", r->pos, r->in); /*********add by jhuang for call back NMEA***************/ /* if(r->callback.nmea_cb) { r->callback.nmea_cb(r->fix.timestamp,r->in,r->pos); }*/ /***************************************************/ if (r->pos < 9) { D("Too short. discarded."); return; } nmea_tokenizer_init(tzer, r->in, r->in + r->pos);#if GPS_DEBUG { int n; D("Found %d tokens", tzer->count); for (n = 0; n < tzer->count; n++) { Token tok = nmea_tokenizer_get(tzer,n); D("%2d: '%.*s'", n, tok.end-tok.p, tok.p); } }#endif tok = nmea_tokenizer_get(tzer, 0); if (tok.p + 5 > tok.end) { D("sentence id '%.*s' too short, ignored.", tok.end-tok.p, tok.p); return; } // ignore first two characters. ptr = tok.p; tok.p += 2; if ( !memcmp(tok.p, "GGA", 3) ) { // GPS fix Token tok_time = nmea_tokenizer_get(tzer,1); Token tok_latitude = nmea_tokenizer_get(tzer,2); Token tok_latitudeHemi = nmea_tokenizer_get(tzer,3); Token tok_longitude = nmea_tokenizer_get(tzer,4); Token tok_longitudeHemi = nmea_tokenizer_get(tzer,5); Token tok_altitude = nmea_tokenizer_get(tzer,9); Token tok_altitudeUnits = nmea_tokenizer_get(tzer,10); nmea_reader_update_time(r, tok_time); nmea_reader_update_latlong(r, tok_latitude, tok_latitudeHemi.p[0], tok_longitude, tok_longitudeHemi.p[0]); nmea_reader_update_altitude(r, tok_altitude, tok_altitudeUnits); } else if ( !memcmp(tok.p, "GSA", 3) ) { // do something ? int is_beidou = !memcmp(ptr, "BD", 2);#ifdef Ublox_6M /* do something ? */ { D("may%s,%d,%s,gsa\n",__FILE__,__LINE__,__FUNCTION__); Token tok_fixStatus = nmea_tokenizer_get(tzer, 2); int i; if (tok_fixStatus.p[0] != '\0' && tok_fixStatus.p[0] != '1') {//等于'1'的话表示定位不可用模式 Token tok_accuracy = nmea_tokenizer_get(tzer, 15);//position dilution of precision dop nmea_reader_update_accuracy(r, tok_accuracy); if(!is_beidou)//因为GPGSA在BDGSA前面，所以第一次进来为GPGSA，这时要清零 r->sv_status.used_in_fix_mask = 0ul; D("\n"); for (i = 3; i <= 14; ++i){ Token tok_prn = nmea_tokenizer_get(tzer, i); int prn = str2int(tok_prn.p, tok_prn.end); D("gsa,prn=%d,",prn); if (prn > 0){ r->sv_status.used_in_fix_mask |= (1ul << ( prn-1)); //这里有可能BD和GP的PRN号一样，就覆盖了，暂时不修改了,这里要prn-1,是因为 //prn最大值为32，所以要减1，否则左移会溢出啊, 要完善的支持BD和GP，还要在 //framework的GpsStatus.java-> setStatus方法中处理可用卫星的问题 r->sv_status_changed = 1; } }D("\n"); D("%s: fix mask is %x", __FUNCTION__, r->sv_status.used_in_fix_mask); // D(" [log hit][%s:%d] fix.flags=0x%x ", __FUNCTION__, __LINE__, r->fix.flags); } D(" [log hit][%s:%d] fix.flags=0x%x ", __FUNCTION__, __LINE__, r->fix.flags); } #endif } //////////////////////////////////////////////////////////////////////////////////////////////////#ifdef Ublox_6M else if ( !memcmp(tok.p, "GSV", 3) ) { int is_beidou = !memcmp(ptr, "BD", 2); D("sclu is_Beidou = %d", is_beidou); D("may%s,%d,%s,gsV\n",__FILE__,__LINE__,__FUNCTION__); Token tok_noSatellites = nmea_tokenizer_get(tzer, 3); int noSatellites = str2int(tok_noSatellites.p, tok_noSatellites.end); D("%d,inview=%d,\n",__LINE__,noSatellites); if (noSatellites > 0) { Token tok_noSentences = nmea_tokenizer_get(tzer, 1); // Token tok_sentence = nmea_tokenizer_get(tzer, 2); int sentence = str2int(tok_sentence.p, tok_sentence.end);//当前解析的是第几个GSV语句 int totalSentences = str2int(tok_noSentences.p, tok_noSentences.end);//一共有多少个GSV语句 D("%d,gsv_index=%d,gsv_total=%d\n",__LINE__,sentence,totalSentences); int curr; int i; if ((sentence == 1) && !is_beidou) { D("msg_index=%d\n",sentence); // r->sv_status_changed = 0; r->sv_status.num_svs = 0; //sv_list的下标，只有$GPGSV当前语句序号为1时候才会清零，$BDGSV时候不会，而是继续递增 r->sv_status.ephemeris_mask=0ul; r->sv_status.almanac_mask=0ul; } curr = r->sv_status.num_svs; i = 0; if(is_beidou && (sentence == 1)){ noSatellites += r->sv_status.num_svs; D("sclu add beidou total num"); } while (i < 4 && r->sv_status.num_svs < noSatellites){ Token tok_prn = nmea_tokenizer_get(tzer, i * 4 + 4); Token tok_elevation = nmea_tokenizer_get(tzer, i * 4 + 5); Token tok_azimuth = nmea_tokenizer_get(tzer, i * 4 + 6); Token tok_snr = nmea_tokenizer_get(tzer, i * 4 + 7); r->sv_status.sv_list[curr].prn = str2int(tok_prn.p, tok_prn.end); if(is_beidou){//北斗卫星编号加上偏移量，避免与GPS冲突 D("sclu, number = %d", r->sv_status.sv_list[curr].prn); //r->sv_status.sv_list[curr].prn += 100; } r->sv_status.sv_list[curr].elevation = str2float(tok_elevation.p, tok_elevation.end); r->sv_status.sv_list[curr].azimuth = str2float(tok_azimuth.p, tok_azimuth.end); r->sv_status.sv_list[curr].snr = str2float(tok_snr.p, tok_snr.end); r->sv_status.ephemeris_mask|=(1ul << (r->sv_status.sv_list[curr].prn-1)); r->sv_status.almanac_mask|=(1ul << (r->sv_status.sv_list[curr].prn-1)); r->sv_status.num_svs += 1; D("**********curr=%d\n",curr); D("%d,prn=%d:snr=%f\n",__LINE__,r->sv_status.sv_list[curr].prn,r->sv_status.sv_list[curr].snr); curr += 1; i += 1; } if ((sentence == totalSentences) && is_beidou) { // $GPGSV和$BDGSV一起解析完了才可以上报 D("msg=%d,msgindex=%d, curr=%d",totalSentences,sentence, curr); #ifdef Ublox_6M r->callback.sv_status_cb=_gps_state->callbacks.sv_status_cb; if (r->sv_status_changed !=0) { if (r->callback.sv_status_cb) { #if GPS_DEBUG D("%d,SV_STATSU,change=%d\n",__LINE__,r->sv_status_changed); int nums=r->sv_status.num_svs; D("num_svs=%d,emask=%x,amask=%x,inusemask=%x\n",r->sv_status.num_svs,r->sv_status.ephemeris_mask,r->sv_status.almanac_mask,r->sv_status.used_in_fix_mask); D("************88\n"); while(nums) { nums--; D("prn=%d:snr=%f\n",r->sv_status.sv_list[nums].prn,r->sv_status.sv_list[nums].snr); }D("************88\n"); #endif r->callback.sv_status_cb( &(r->sv_status) ); r->sv_status_changed = 0; }else { D("no callback, keeping status data until needed !"); } } #endif } D("%s: GSV message with total satellites %d", __FUNCTION__, noSatellites); } } #endif//////////////////////////////////////////////////////////////////////////////////////////// else if ( !memcmp(tok.p, "GLL", 3) ) { Token tok_fixstaus = nmea_tokenizer_get(tzer,6); if (tok_fixstaus.p[0] == 'A') { Token tok_latitude = nmea_tokenizer_get(tzer,1); Token tok_latitudeHemi = nmea_tokenizer_get(tzer,2); Token tok_longitude = nmea_tokenizer_get(tzer,3); Token tok_longitudeHemi = nmea_tokenizer_get(tzer,4); Token tok_time = nmea_tokenizer_get(tzer,5); nmea_reader_update_time(r, tok_time); nmea_reader_update_latlong(r, tok_latitude, tok_latitudeHemi.p[0], tok_longitude, tok_longitudeHemi.p[0]); } } ///////////////////////////////////////////////////////////////////////////////// else if ( !memcmp(tok.p, "RMC", 3) ) { /* Token tok_time = nmea_tokenizer_get(tzer,1); Token tok_fixStatus = nmea_tokenizer_get(tzer,2); Token tok_latitude = nmea_tokenizer_get(tzer,3); Token tok_latitudeHemi = nmea_tokenizer_get(tzer,4); Token tok_longitude = nmea_tokenizer_get(tzer,5); Token tok_longitudeHemi = nmea_tokenizer_get(tzer,6); Token tok_speed = nmea_tokenizer_get(tzer,7); Token tok_bearing = nmea_tokenizer_get(tzer,8); Token tok_date = nmea_tokenizer_get(tzer,9); D("in RMC, fixStatus=%c", tok_fixStatus.p[0]); if (tok_fixStatus.p[0] == 'A') { nmea_reader_update_date( r, tok_date, tok_time ); nmea_reader_update_latlong( r, tok_latitude, tok_latitudeHemi.p[0], tok_longitude, tok_longitudeHemi.p[0] ); nmea_reader_update_bearing( r, tok_bearing ); nmea_reader_update_speed ( r, tok_speed ); }*/ Token tok_time = nmea_tokenizer_get(tzer,1); Token tok_fixStatus = nmea_tokenizer_get(tzer,2); Token tok_latitude = nmea_tokenizer_get(tzer,3); Token tok_latitudeHemi = nmea_tokenizer_get(tzer,4); Token tok_longitude = nmea_tokenizer_get(tzer,5); Token tok_longitudeHemi = nmea_tokenizer_get(tzer,6); Token tok_speed = nmea_tokenizer_get(tzer,7); Token tok_bearing = nmea_tokenizer_get(tzer,8); Token tok_date = nmea_tokenizer_get(tzer,9); D("in RMC, fixStatus=%c", tok_fixStatus.p[0]); if (tok_fixStatus.p[0] == 'A') { nmea_reader_update_date( r, tok_date, tok_time ); nmea_reader_update_latlong( r, tok_latitude, tok_latitudeHemi.p[0], tok_longitude, tok_longitudeHemi.p[0] ); nmea_reader_update_bearing( r, tok_bearing ); nmea_reader_update_speed ( r, tok_speed ); #ifdef Ublox_6M r->callback.location_cb=_gps_state->callbacks.location_cb; r->callback.nmea_cb=_gps_state->callbacks.nmea_cb; r->callback.status_cb=_gps_state->callbacks.status_cb; if (r->callback.status_cb) { D("report,status,flags=%d\n",r->fix.flags); r->callback.status_cb( (struct GpsStatus *)&(r->fix.flags) ); } if (r->callback.location_cb) { D("location_cb report:r->fix.flags=%d,r->latitude=%f,r->longitude=%f,r->altitude=%f,r->speed=%f,r->bearing=%f,r->accuracy=%f\n",r->fix.flags,r->fix.latitude,r->fix.longitude,r->fix.altitude,r->fix.speed,r->fix.bearing,r->fix.accuracy); r->callback.location_cb( &r->fix ); r->fix.flags = 0; } if (r->callback.nmea_cb) { D("report,timestamp=%llx,%llu\n",r->fix.timestamp,r->fix.timestamp); r->callback.nmea_cb( r->fix.timestamp,r->in,r->pos ); } #else r->callback=_gps_state.callbacks->location_cb; //r->callback.nmea_cb=_gps_state->callbacks.nmea_cb; if (r->callback) {D("if2 (r->callback.location_cb)\n"); r->callback( &r->fix ); r->fix.flags = 0; } #endif } } else { tok.p -= 2; D("unknown sentence '%.*s", tok.end-tok.p, tok.p); } if (r->fix.flags != 0) {#if GPS_DEBUG char temp[256]; char* p = temp; char* end = p + sizeof(temp); struct tm utc; p += snprintf( p, end-p, "sending fix" ); if (r->fix.flags & GPS_LOCATION_HAS_LAT_LONG) { p += snprintf(p, end-p, " lat=%g lon=%g", r->fix.latitude, r->fix.longitude); } if (r->fix.flags & GPS_LOCATION_HAS_ALTITUDE) { p += snprintf(p, end-p, " altitude=%g", r->fix.altitude); } if (r->fix.flags & GPS_LOCATION_HAS_SPEED) { p += snprintf(p, end-p, " speed=%g", r->fix.speed); } if (r->fix.flags & GPS_LOCATION_HAS_BEARING) { p += snprintf(p, end-p, " bearing=%g", r->fix.bearing); } if (r->fix.flags & GPS_LOCATION_HAS_ACCURACY) { p += snprintf(p,end-p, " accuracy=%g", r->fix.accuracy); } gmtime_r( (time_t*) &r->fix.timestamp, &utc ); p += snprintf(p, end-p, " time=%s", asctime( &utc ) ); LOGD("%s",temp);#endif /* if (r->callback ) { r->callback( &r->fix ); r->fix.flags = 0; }*/ //else { // D("no callback, keeping data until needed !"); // } }} static voidnmea_reader_addc( NmeaReader* r, int c ){ if (r->overflow) { r->overflow = (c != '\n'); return; } if (r->pos >= (int) sizeof(r->in)-1 ) { r->overflow = 1; r->pos = 0; return; } r->in[r->pos] = (char)c; r->pos += 1; if (c == '\n') { nmea_reader_parse( r ); r->pos = 0; }}/*****************************************************************//*****************************************************************//***** *****//***** C O N N E C T I O N S T A T E *****//***** *****//*****************************************************************//*****************************************************************//* commands sent to the gps thread */enum { CMD_QUIT = 0, CMD_START = 1, CMD_STOP = 2}; static voidgps_state_done( GpsState* s ){ // tell the thread to quit, and wait for it char cmd = CMD_QUIT; void* dummy; write( s->control[0], &cmd, 1 ); pthread_join(s->thread, &dummy); // close the control socket pair close( s->control[0] ); s->control[0] = -1; close( s->control[1] ); s->control[1] = -1; // close connection to the QEMU GPS daemon close( s->fd ); s->fd = -1; s->init = 0;} static voidgps_state_start( GpsState* s ){ char cmd = CMD_START; int ret; do { ret=write( s->control[0], &cmd, 1 ); } while (ret < 0 && errno == EINTR); if (ret != 1) D("%s: could not send CMD_START command: ret=%d: %s", __FUNCTION__, ret, strerror(errno));} static voidgps_state_stop( GpsState* s ){ char cmd = CMD_STOP; int ret; do { ret=write( s->control[0], &cmd, 1 ); } while (ret < 0 && errno == EINTR); if (ret != 1) D("%s: could not send CMD_STOP command: ret=%d: %s", __FUNCTION__, ret, strerror(errno));} static intepoll_register( int epoll_fd, int fd ){ struct epoll_event ev; int ret, flags; /* important: make the fd non-blocking */ flags = fcntl(fd, F_GETFL); fcntl(fd, F_SETFL, flags | O_NONBLOCK); ev.events = EPOLLIN; ev.data.fd = fd; do { ret = epoll_ctl( epoll_fd, EPOLL_CTL_ADD, fd, &ev ); } while (ret < 0 && errno == EINTR); return ret;} static intepoll_deregister( int epoll_fd, int fd ){ int ret; do { ret = epoll_ctl( epoll_fd, EPOLL_CTL_DEL, fd, NULL ); } while (ret < 0 && errno == EINTR); return ret;}/* this is the main thread, it waits for commands from gps_state_start/stop and, * when started, messages from the QEMU GPS daemon. these are simple NMEA sentences * that must be parsed to be converted into GPS fixes sent to the framework */ static voidgps_state_thread( void* arg ){ GpsState* state = (GpsState*) arg; NmeaReader reader[1]; int epoll_fd = epoll_create(2); int started = 0; int gps_fd = state->fd; int control_fd = state->control[1]; nmea_reader_init( reader ); // register control file descriptors for polling epoll_register( epoll_fd, control_fd ); epoll_register( epoll_fd, gps_fd ); D("gps thread running"); // now loop for (;;) { struct epoll_event events[2]; int ne, nevents; nevents = epoll_wait( epoll_fd, events, 2, -1 ); if (nevents < 0) { if (errno != EINTR) LOGE("epoll_wait() unexpected error: %s", strerror(errno)); continue; } D("gps thread received %d events", nevents); for (ne = 0; ne < nevents; ne++) { if ((events[ne].events & (EPOLLERR|EPOLLHUP)) != 0) { LOGE("EPOLLERR or EPOLLHUP after epoll_wait() !?"); goto Exit; } if ((events[ne].events & EPOLLIN) != 0) { int fd = events[ne].data.fd; if (fd == control_fd) { char cmd = 255; int ret; D("gps control fd event"); do { ret = read( fd, &cmd, 1 ); } while (ret < 0 && errno == EINTR); if (cmd == CMD_QUIT) { D("gps thread quitting on demand"); goto Exit; } else if (cmd == CMD_START) { if (!started) { D("gps thread starting location_cb=%p", state->callbacks.location_cb); started = 1; //****************************************************************** g_status.status=GPS_STATUS_SESSION_BEGIN;//??ʼ???? state->callbacks.status_cb(&g_status); //****************************************************************** nmea_reader_set_callback( reader, state->callbacks.location_cb ); LOGE("%d",gps_fd); } } else if (cmd == CMD_STOP) { if (started) { D("gps thread stopping"); started = 0; //******************************************************************** g_status.status=GPS_STATUS_SESSION_END; //ֹͣ state->callbacks.status_cb(&g_status); //******************************************************************** nmea_reader_set_callback( reader, NULL ); } } } else if (fd == gps_fd) { char buff[32]; D("gps fd event"); for (;;) { int nn, ret; ret = read( fd, buff, sizeof(buff) ); if (ret < 0) { if (errno == EINTR) continue; if (errno != EWOULDBLOCK) LOGE("error while reading from gps daemon socket: %s:", strerror(errno)); break; } D("received %d bytes: %.*s", ret, ret, buff); for (nn = 0; nn < ret; nn++) nmea_reader_addc( reader, buff[nn] ); } D("gps fd event end"); } else { LOGE("epoll_wait() returned unkown fd %d ?", fd); } } } }Exit: return ;} static voidgps_state_init( GpsState* state ){ state->init = 1; state->control[0] = -1; state->control[1] = -1; state->fd = -1; int ret = -1; struct termios gps_termios; //***************************************************************************** state->fd= open("/dev/ttyS3",O_RDWR|O_NOCTTY|O_NDELAY);//?????õ???UART1 if( state->fd < 0){ LOGE("open port /dev/ttyS3 ERROR..state->fd=%s\n",strerror(state->fd)); exit(0); }else LOGE("open port:/dev/ttyS3 succceed..state->fd=%d\n",state->fd); if(fcntl( state->fd,F_SETFL,0)<0) LOGE("fcntl F_SETFL\n"); { LOGI(">>>> Port setup..\n"); int err; tcflush(state->fd, TCIOFLUSH); if ((err = tcgetattr(state->fd,&gps_termios)) != 0) { LOGI("tcgetattr(%d) = %d,errno %d\r\n",state->fd,err,errno); close(state->fd); } gps_termios.c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL|IXON); gps_termios.c_oflag &= ~OPOST; gps_termios.c_lflag &= ~(ECHO|ECHONL|ICANON|ISIG|IEXTEN); gps_termios.c_cflag &= ~(CSIZE|PARENB); gps_termios.c_cflag |= CS8; gps_termios.c_cflag &= ~CRTSCTS;//no flow control tcsetattr(state->fd, TCSANOW, &gps_termios); tcflush(state->fd, TCIOFLUSH); tcsetattr(state->fd, TCSANOW, &gps_termios); tcflush(state->fd, TCIOFLUSH); tcflush(state->fd, TCIOFLUSH); if (cfsetispeed(&gps_termios,B115200)) { LOGE("cfsetispeed.. errno..\r\n"); close(state->fd); //return(-1); } // Set the output baud rates in the termios. if (cfsetospeed(&gps_termios,B115200)) { LOGE("cfsetispeed.. errno..\r\n"); close(state->fd); //return(-1); } tcsetattr(state->fd,TCSANOW,&gps_termios); LOGE("Port setup finished..\n"); } if (state->fd < 0) { LOGD("no gps emulation detected"); return; } //********************************************************************** if ( socketpair( AF_LOCAL, SOCK_STREAM, 0, state->control ) < 0 ) { LOGE("could not create thread control socket pair: %s", strerror(errno)); goto Fail; } /* if ( pthread_create( &state->thread, NULL, gps_state_thread, state ) != 0 ) { LOGE("could not create gps thread: %s", strerror(errno)); goto Fail; }*/ //*********************************************************************** LOGE("gps state initialized before"); state->thread=state->callbacks.create_thread_cb("gps_state_thread",gps_state_thread,state); //************************************************************************** // D("gps state initialized"); LOGE("gps state initialized"); return;Fail: gps_state_done( state );}/*****************************************************************//*****************************************************************//***** *****//***** I N T E R F A C E *****//***** *****//*****************************************************************//*****************************************************************/ static intqemu_gps_init(GpsCallbacks* callbacks){ system("echo 1 > /sys/devices/platform/gps_power/bcm_gps_power_state"); GpsState* s = _gps_state; D("%s", __FUNCTION__); /**************************************************/ s->callbacks = *callbacks; //ע???ص?????,JNI????\C0\B4?Ļص????? g_status.status=GPS_STATUS_ENGINE_ON;//????״̬ ͨ?絫??û??ʼ???? s->callbacks.status_cb(&g_status); /******************************************************/ if (!s->init) gps_state_init(s); if (s->fd < 0) return -1; // s->callbacks = *callbacks; return 0;} static voidqemu_gps_cleanup(void){ GpsState* s = _gps_state; D("%s", __FUNCTION__); if (s->init) gps_state_done(s); system("echo 0 > /sys/devices/platform/gps_power/bcm_gps_power_state");} static intqemu_gps_start(){ GpsState* s = _gps_state; D("%s", __FUNCTION__); if (!s->init) { D("%s: called with uninitialized state !!", __FUNCTION__); return -1; } gps_state_start(s); return 0;} static intqemu_gps_stop(){ GpsState* s = _gps_state; D("%s", __FUNCTION__); if (!s->init) { D("%s: called with uninitialized state !!", __FUNCTION__); return -1; } D("%s: called", __FUNCTION__); gps_state_stop(s); return 0;} static intqemu_gps_inject_time(GpsUtcTime time, int64_t timeReference, int uncertainty){ return 0;} static intqemu_gps_inject_location(double latitude, double longitude, float accuracy){ return 0;} static voidqemu_gps_delete_aiding_data(GpsAidingData flags){}static int qemu_gps_set_position_mode(GpsPositionMode mode, GpsPositionRecurrence recurrence,uint32_t min_interval, uint32_t preferred_accuracy, uint32_t preferred_time)//(GpsPositionMode mode, int fix_frequency){ // FIXME - support fix_frequency return 0;} static const void*qemu_gps_get_extension(const char* name){ // no extensions supported return NULL;}static const GpsInterface qemuGpsInterface = { sizeof(GpsInterface), qemu_gps_init, qemu_gps_start, qemu_gps_stop, qemu_gps_cleanup, qemu_gps_inject_time, qemu_gps_inject_location, qemu_gps_delete_aiding_data, qemu_gps_set_position_mode, qemu_gps_get_extension,};const GpsInterface* gps__get_gps_interface(struct gps_device_t* dev){ return &qemuGpsInterface;}static int open_gps(const struct hw_module_t* module, char const* name, struct hw_device_t** device){ struct gps_device_t *dev = malloc(sizeof(struct gps_device_t)); memset(dev, 0, sizeof(*dev)); dev->common.tag = HARDWARE_DEVICE_TAG; dev->common.version = 0; dev->common.module = (struct hw_module_t*)module; // dev->common.close = (int (*)(struct hw_device_t*))close_lights; dev->get_gps_interface = gps__get_gps_interface; *device = (struct hw_device_t*)dev; return 0;}static struct hw_module_methods_t gps_module_methods = { .open = open_gps};const struct hw_module_t HAL_MODULE_INFO_SYM = { .tag = HARDWARE_MODULE_TAG, .version_major = 1, .version_minor = 0, .id = GPS_HARDWARE_MODULE_ID, .name = "Goldfish GPS Module", .author = "The Android Open Source Project", .methods = &gps_module_methods,};下面简单分析GPS源代码的上报过程，流程图如下所示：
应用：
lm = (LocationManager) getSystemService(Context.LOCATION_SERVICE); lm.addGpsStatusListener(statuslistener);private GpsStatus.Listener statuslistener = new GpsStatus.Listener(){ //实现public interface Listener 接口 public void onGpsStatusChanged(int event){ }};调用LocationManager.java：
1331 GpsStatusListenerTransport transport = new GpsStatusListenerTransport(listener); 1332 result = mService.addGpsStatusListener(transport); 1333 if (result) { 1334 mGpsStatusListeners.put(listener, transport); 1335 }1331行：
1228 GpsStatusListenerTransport(GpsStatus.Listener listener) { 1229 mListener = listener; 1230 mNmeaListener = null; 1231 }GpsStatusListenerTransport类提供了几个方法如onGpsStarted，onGpsStopped，onFirstFix，onSvStatusChanged，onNmeaReceived等，而在这些方法中，会调用
mGpsHandler.sendMessage(msg)，将消息发送给mListener，这样前面应用中实现的接口onGpsStatusChanged就会接收到消息了；
现在回到谁会调用这些方法来发送消息的问题上？当然是LocationManagerService.java，所以要将GpsStatusListenerTransport注册到服务中，这是在1332行中实现的，所以看
LocationManagerService.java的addGpsStatusListener方法：
1303 try { 1304 mGpsStatusProvider.addGpsStatusListener(listener); 1305 } catch (RemoteException e) { 1306 Slog.e(TAG, "mGpsStatusProvider.addGpsStatusListener failed", e); 1307 return false; 1308 }mGpsStatusProvider是什么？
mGpsStatusProvider = gpsProvider.getGpsStatusProvider();
gpsProvider又是什么?
GpsLocationProvider gpsProvider = new GpsLocationProvider(mContext, this);
看来要进入GpsLocationProvider类了，这个类是和GPS的JNI层打交道的地方，看他的getGpsStatusProvider方法：
343 public IGpsStatusProvider getGpsStatusProvider() { 344 return mGpsStatusProvider; 345 }mGpsStatusProvider是：
296 private final IGpsStatusProvider mGpsStatusProvider = new IGpsStatusProvider.Stub() { 297 public void addGpsStatusListener(IGpsStatusListener listener) throws RemoteException { 298 if (listener == null) { 299 throw new NullPointerException("listener is null in addGpsStatusListener"); 300 } 301 302 synchronized(mListeners) { 303 IBinder binder = listener.asBinder(); 304 int size = mListeners.size(); 305 for (int i = 0; i < size; i++) { 306 Listener test = mListeners.get(i); 307 if (binder.equals(test.mListener.asBinder())) { 308 // listener already added 309 return; 310 } 311 } 312 313 Listener l = new Listener(listener); 314 binder.linkToDeath(l, 0); 315 mListeners.add(l); 316 } 317 }看来是实现了IGpsStatusProvider接口的一个服务类啊，所以1304行就是调用这里297行的addGpsStatusListener方法把客户端LocationManager中的listener添加到这里来啊。
307行先判断listener是否已经添加，接着313行，new Listener，315行的mListeners是ArrayList类型，就是把313创建的Listener加到动态数组中。
想想看，在GpsStatusProvider类中肯顶在某个地方会遍历mListeners中的成员，以便回调里面的方法，将数据发送出去；也就是说存在某个机制，已经运行起来了？这是什么机制？
其实没有什么机制，只不过GpsStatusProvider类实现了reportStatus和reportSvStatus方法，这些方法会提供给JNI层，也就是JNI主动调用java层的方法？那什么时候调用呢，进入
JNI层看看就知道了：
method_reportSvStatus = env->GetMethodID(clazz, "reportSvStatus", "()V");//看名字就知道是对应java的reportSvStatus方法了
90 static void sv_status_callback(GpsSvStatus* sv_status) 91 { 92 JNIEnv* env = AndroidRuntime::getJNIEnv(); 93 memcpy(&sGpsSvStatus, sv_status, sizeof(sGpsSvStatus)); 94 env->CallVoidMethod(mCallbacksObj, method_reportSvStatus);//这里CallVoidMethod就是调用method_reportSvStatus方法，即java层的reportSvStatus 95 checkAndClearExceptionFromCallback(env, __FUNCTION__); 96 }sv_status_callback则在函数指针数组中被赋值：
139 GpsCallbacks sGpsCallbacks = { 140 sizeof(GpsCallbacks), 141 location_callback, 142 status_callback, 143 sv_status_callback, 144 nmea_callback, 145 set_capabilities_callback, 146 acquire_wakelock_callback, 147 release_wakelock_callback, 148 create_thread_callback, 149 request_utc_time_callback, 150 };GpsCallbacks类在libhardware/include/hardware/gps.h定义：
368 typedef struct { 369 /** set to sizeof(GpsCallbacks) */ 370 size_t size; 371 gps_location_callback location_cb; 372 gps_status_callback status_cb; 373 gps_sv_status_callback sv_status_cb; 374 gps_nmea_callback nmea_cb; 375 gps_set_capabilities set_capabilities_cb; 376 gps_acquire_wakelock acquire_wakelock_cb; 377 gps_release_wakelock release_wakelock_cb; 378 gps_create_thread create_thread_cb; 379 gps_request_utc_time request_utc_time_cb; 380 } GpsCallbacks;这里是HAL层主动调用JNI层的方法，看看是怎么回事，在JNI的android_location_GpsLocationProvider_is_supported中：
if (!sGpsInterface || sGpsInterface->init(&sGpsCallbacks) != 0)
就是这一句，把sGpsCallbacks的地址传递了给HAL层，这里的sGpsInterface当然是在经过
hw_get_module(GPS_HARDWARE_MODULE_ID, (hw_module_t const**)&module);
module->methods->open(module, GPS_HARDWARE_MODULE_ID, &device);
sGpsInterface = gps_device->get_gps_interface(gps_device);
之后得到的。
所以进入HAL层看看吧：
1300 static const GpsInterface qemuGpsInterface = { 1301 sizeof(GpsInterface), 1302 qemu_gps_init, 1303 qemu_gps_start, 1304 qemu_gps_stop, 1305 qemu_gps_cleanup, 1306 qemu_gps_inject_time, 1307 qemu_gps_inject_location, 1308 qemu_gps_delete_aiding_data, 1309 qemu_gps_set_position_mode, 1310 qemu_gps_get_extension, 1311 }; 1312 1313 const GpsInterface* gps__get_gps_interface(struct gps_device_t* dev) 1314 { 1315 return &qemuGpsInterface;//返回给JNI层的地址 1316 }GpsInterface类的定义：
384 typedef struct { 386 size_t size; 391 int (*init)( GpsCallbacks* callbacks ); 394 int (*start)( void ); 397 int (*stop)( void ); 400 void (*cleanup)( void ); 403 int (*inject_time)(GpsUtcTime time, int64_t timeReference, 404 int uncertainty); 411 int (*inject_location)(double latitude, double longitude, float accuracy); 418 void (*delete_aiding_data)(GpsAidingData flags); 425 int (*set_position_mode)(GpsPositionMode mode, GpsPositionRecurrence recurrence, 426 uint32_t min_interval, uint32_t preferred_accuracy, uint32_t preferred_time); 429 const void* (*get_extension)(const char* name); 430 } GpsInterface;看到了没，看来不用多说，JNI调用了qemu_gps_init方法：
1198 qemu_gps_init(GpsCallbacks* callbacks) 1199 { 1201 GpsState* s = _gps_state; 1206 s->callbacks = *callbacks; 1208 g_status.status=GPS_STATUS_ENGINE_ON; 1210 s->callbacks.status_cb(&g_status); 1214 if (!s->init) 1215 gps_state_init(s); 1217 if (s->fd < 0) 1218 return -1; 1222 return 0; 1223 }这样1206行就得到了JNI层的sv_status_callback结构体地址，然后就可以调用它了，什么时候调用啊？在线程中检测到串口有GPS数据上报了就会调用，在线程中解析GPS的GSV数据
后会调用r->callback.sv_status_cb( &(r->sv_status) )：
90 static void sv_status_callback(GpsSvStatus* sv_status) 91 { 92 JNIEnv* env = AndroidRuntime::getJNIEnv(); 93 memcpy(&sGpsSvStatus, sv_status, sizeof(sGpsSvStatus)); 94 env->CallVoidMethod(mCallbacksObj, method_reportSvStatus); 95 checkAndClearExceptionFromCallback(env, __FUNCTION__); 96 }93行把数据保存到JNI层，94行调用JAVA层的reportSvStatus方法：
1209 private void reportSvStatus() { 1210 1211 int svCount = native_read_sv_status(mSvs, mSnrs, mSvElevations, mSvAzimuths, mSvMasks); 1212 1213 synchronized(mListeners) { 1214 int size = mListeners.size(); 1215 for (int i = 0; i < size; i++) { 1216 Listener listener = mListeners.get(i); 1217 try { 1218 listener.mListener.onSvStatusChanged(svCount, mSvs, mSnrs, 1219 mSvElevations, mSvAzimuths, mSvMasks[EPHEMERIS_MASK], 1220 mSvMasks[ALMANAC_MASK], mSvMasks[USED_FOR_FIX_MASK]); 1221 } catch (RemoteException e) { 1222 Log.w(TAG, "RemoteException in reportSvInfo"); 1223 mListeners.remove(listener); 1224 // adjust for size of list changing 1225 size--; 1226 } 1227 } 1228 }1211行它又调用JNI的native_read_sv_status，它不做别的事情，就是读取前面保存在HAL层的数据，因为前面HAL层只是把数据拷贝到JNI层的变量中：
346 static jint android_location_GpsLocationProvider_read_sv_status(JNIEnv* env, jobject obj, 347 jintArray prnArray, jfloatArray snrArray, jfloatArray elevArray, jfloatArray azumArray, 348 jintArray maskArray) 349 { 350 // this should only be called from within a call to reportSvStatus 351 352 jint* prns = env->GetIntArrayElements(prnArray, 0); 353 jfloat* snrs = env->GetFloatArrayElements(snrArray, 0); 354 jfloat* elev = env->GetFloatArrayElements(elevArray, 0); 355 jfloat* azim = env->GetFloatArrayElements(azumArray, 0); 356 jint* mask = env->GetIntArrayElements(maskArray, 0); 357 358 int num_svs = sGpsSvStatus.num_svs; 359 for (int i = 0; i < num_svs; i++) { 360 prns[i] = sGpsSvStatus.sv_list[i].prn; 361 snrs[i] = sGpsSvStatus.sv_list[i].snr; 362 elev[i] = sGpsSvStatus.sv_list[i].elevation; 363 azim[i] = sGpsSvStatus.sv_list[i].azimuth; 364 } 365 mask[0] = sGpsSvStatus.ephemeris_mask; 366 mask[1] = sGpsSvStatus.almanac_mask; 367 mask[2] = sGpsSvStatus.used_in_fix_mask; 368 369 env->ReleaseIntArrayElements(prnArray, prns, 0); 370 env->ReleaseFloatArrayElements(snrArray, snrs, 0); 371 env->ReleaseFloatArrayElements(elevArray, elev, 0); 372 env->ReleaseFloatArrayElements(azumArray, azim, 0); 373 env->ReleaseIntArrayElements(maskArray, mask, 0); 374 return num_svs; 375 }最终我们的应用也就在onGpsStatusChanged方法中得到了要处理的数据啦
2013.08.22续：
由于要做一个测试软件来测试GPS性能，但是多加了一个北斗的数据，android标准只支持1～32号星，大于32将无法校验该卫星是否用来定位。所以只能增加一个int型来保存北斗的校验值，具体修改的地方如下：
1. hardware/libhardware中：
diff --git a/include/hardware/gps.h b/include/hardware/gps.hindex 69bfd50..895ee4f 100755--- a/include/hardware/gps.h+++ b/include/hardware/gps.h@@ -298,6 +298,11 @@ typedef struct { * were used for computing the most recent position fix. */ uint32_t used_in_fix_mask;++ /*+ add for beidou gps+ */+ uint32_t bd_used_in_fix_mask; } GpsSvStatus;2.beidou_gps.c中：
diff --git a/hardware/libhardware/gps/beidou_gps.c b/hardware/libhardware/gps/beidou_gps.cindex 131a16e..d6001f9 100644--- a/hardware/libhardware/gps/beidou_gps.c+++ b/hardware/libhardware/gps/beidou_gps.c- if(!is_beidou)+ if(!is_beidou){ r->sv_status.used_in_fix_mask = 0ul; + r->sv_status.bd_used_in_fix_mask = 0ul; + } D("\n"); for (i = 3; i <= 14; ++i){ @@ -571,9 +573,13 @@ nmea_reader_parse( NmeaReader* r ) int prn = str2int(tok_prn.p, tok_prn.end); D("gsa,prn=%d,",prn); if (prn > 0){ - r->sv_status.used_in_fix_mask |= (1ul << ( prn-1)); - r->sv_status_changed = 1; + if(is_beidou){+ D("sclu %d, prn=%d", __LINE__, prn);+ r->sv_status.bd_used_in_fix_mask |= (1ul << ( prn-1)); + }else+ r->sv_status.used_in_fix_mask |= (1ul << ( prn-1)); + r->sv_status_changed = 1; } 3.frameworks/base中:
diff --git a/location/java/android/location/GpsStatus.java b/location/java/android/location/GpsStatus.javaindex 4af55a6..73e3bcc 100644--- a/location/java/android/location/GpsStatus.java+++ b/location/java/android/location/GpsStatus.java@@ -18,6 +18,7 @@ package android.location; import java.util.Iterator; import java.util.NoSuchElementException;+import android.util.Log; /**@@ -140,26 +141,35 @@ public final class GpsStatus { */ synchronized void setStatus(int svCount, int[] prns, float[] snrs, float[] elevations, float[] azimuths, int ephemerisMask,- int almanacMask, int usedInFixMask) {+ int almanacMask, int usedInFixMask, int bdusedInFixMask) { int i; for (i = 0; i < mSatellites.length; i++) { mSatellites[i].mValid = false; }- + Log.e("sclu", "ephemeris = " + Integer.toBinaryString(ephemerisMask) + ", almanac = " + Integer.toBinaryString(almanacMask) + ", usedinfix = " + Intege for (i = 0; i < svCount; i++) {+ int prn = prns[i] - 1;- int prnShift = (1 << prn);+ int prnShift;+ if(prns[i] <= 32)+ prnShift = (1 << (prn));+ else+ prnShift = (1 << (prn - 100)); if (prn >= 0 && prn < mSatellites.length) { GpsSatellite satellite = mSatellites[prn];- + Log.e("sclu", "prns[" + i + "] = " + prns[i]); satellite.mValid = true; satellite.mSnr = snrs[i]; satellite.mElevation = elevations[i]; satellite.mAzimuth = azimuths[i]; satellite.mHasEphemeris = ((ephemerisMask & prnShift) != 0); satellite.mHasAlmanac = ((almanacMask & prnShift) != 0);- satellite.mUsedInFix = ((usedInFixMask & prnShift) != 0);+ if(prns[i] <= 32){+ satellite.mUsedInFix = ((usedInFixMask & prnShift) != 0);+ }else{+ satellite.mUsedInFix = ((bdusedInFixMask & prnShift) != 0);+ } } } }diff --git a/location/java/android/location/IGpsStatusListener.aidl b/location/java/android/location/IGpsStatusListener.aidlindex 62b1c6b..6a6bac9 100644--- a/location/java/android/location/IGpsStatusListener.aidl+++ b/location/java/android/location/IGpsStatusListener.aidl@@ -28,6 +28,6 @@ oneway interface IGpsStatusListener void onFirstFix(int ttff); void onSvStatusChanged(int svCount, in int[] prns, in float[] snrs, in float[] elevations, in float[] azimuths, - int ephemerisMask, int almanacMask, int usedInFixMask);+ int ephemerisMask, int almanacMask, int usedInFixMask, int bdusedInFixMask); void onNmeaReceived(long timestamp, String nmea); }diff --git a/location/java/android/location/LocationManager.java b/location/java/android/location/LocationManager.javaindex 91d8bc1..5c1cfa9 100644--- a/location/java/android/location/LocationManager.java+++ b/location/java/android/location/LocationManager.java@@ -1263,10 +1263,10 @@ public class LocationManager { public void onSvStatusChanged(int svCount, int[] prns, float[] snrs, float[] elevations, float[] azimuths, int ephemerisMask,- int almanacMask, int usedInFixMask) {+ int almanacMask, int usedInFixMask, int bdusedInFixMask) { if (mListener != null) { mGpsStatus.setStatus(svCount, prns, snrs, elevations, azimuths,- ephemerisMask, almanacMask, usedInFixMask);+ ephemerisMask, almanacMask, usedInFixMask, bdusedInFixMask); Message msg = Message.obtain(); msg.what = GpsStatus.GPS_EVENT_SATELLITE_STATUS;diff --git a/services/java/com/android/server/location/GpsLocationProvider.java b/services/java/com/android/server/location/GpsLocationProvider.javaindex bad57d5..82159a1 100755--- a/services/java/com/android/server/location/GpsLocationProvider.java+++ b/services/java/com/android/server/location/GpsLocationProvider.java@@ -1217,7 +1217,7 @@ public class GpsLocationProvider implements LocationProviderInterface { try { listener.mListener.onSvStatusChanged(svCount, mSvs, mSnrs, mSvElevations, mSvAzimuths, mSvMasks[EPHEMERIS_MASK], - mSvMasks[ALMANAC_MASK], mSvMasks[USED_FOR_FIX_MASK]); + mSvMasks[ALMANAC_MASK], mSvMasks[USED_FOR_FIX_MASK], mSvMasks[BD_USED_FOR_FIX_MASK]); } catch (RemoteException e) { Log.w(TAG, "RemoteException in reportSvInfo"); mListeners.remove(listener);@@ -1649,13 +1649,15 @@ public class GpsLocationProvider implements LocationProviderInterface { private static final int EPHEMERIS_MASK = 0; private static final int ALMANAC_MASK = 1; private static final int USED_FOR_FIX_MASK = 2;+ //add for beidou gps+ private static final int BD_USED_FOR_FIX_MASK = 3; // preallocated arrays, to avoid memory allocation in reportStatus() private int mSvs[] = new int[MAX_SVS]; private float mSnrs[] = new float[MAX_SVS]; private float mSvElevations[] = new float[MAX_SVS]; private float mSvAzimuths[] = new float[MAX_SVS];- private int mSvMasks[] = new int[3];+ private int mSvMasks[] = new int[4]; private int mSvCount; // preallocated to avoid memory allocation in reportNmea() private byte[] mNmeaBuffer = new byte[120];diff --git a/services/jni/com_android_server_location_GpsLocationProvider.cpp b/services/jni/com_android_server_location_GpsLocationProvider.cppindex c823da5..88abf23 100755--- a/services/jni/com_android_server_location_GpsLocationProvider.cpp+++ b/services/jni/com_android_server_location_GpsLocationProvider.cpp@@ -361,6 +361,7 @@ static jint android_location_GpsLocationProvider_read_sv_status(JNIEnv* env, job mask[0] = sGpsSvStatus.ephemeris_mask; 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