2267 lines
81 KiB
C++
2267 lines
81 KiB
C++
/* Copyright (c) 2012-2020, The Linux Foundation. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are
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* met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of The Linux Foundation nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED "AS IS" AND ANY EXPRESS OR IMPLIED
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* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS
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* BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
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* BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
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* OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN
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* IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#define LOG_NDEBUG 0
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#define LOG_TAG "LocSvc_nmea"
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#include <loc_nmea.h>
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#include <math.h>
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#include <log_util.h>
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#include <loc_pla.h>
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#include <loc_cfg.h>
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#define GLONASS_SV_ID_OFFSET 64
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#define QZSS_SV_ID_OFFSET (192)
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#define BDS_SV_ID_OFFSET (200)
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#define GALILEO_SV_ID_OFFSET (300)
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#define NAVIC_SV_ID_OFFSET (400)
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#define MAX_SV_COUNT_SUPPORTED_IN_ONE_CONSTELLATION 64
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#define MAX_SATELLITES_IN_USE 12
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#define MSEC_IN_ONE_WEEK 604800000ULL
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#define UTC_GPS_OFFSET_MSECS 315964800000ULL
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// GNSS system id according to NMEA spec
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#define SYSTEM_ID_GPS 1
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#define SYSTEM_ID_GLONASS 2
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#define SYSTEM_ID_GALILEO 3
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#define SYSTEM_ID_BDS 4
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#define SYSTEM_ID_QZSS 5
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#define SYSTEM_ID_NAVIC 6
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//GNSS signal id according to NMEA spec
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#define SIGNAL_ID_ALL_SIGNALS 0
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#define SIGNAL_ID_GPS_L1CA 1
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#define SIGNAL_ID_GPS_L1P 2
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#define SIGNAL_ID_GPS_L1M 3
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#define SIGNAL_ID_GPS_L2P 4
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#define SIGNAL_ID_GPS_L2CM 5
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#define SIGNAL_ID_GPS_L2CL 6
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#define SIGNAL_ID_GPS_L5I 7
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#define SIGNAL_ID_GPS_L5Q 8
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#define SIGNAL_ID_GLO_G1CA 1
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#define SIGNAL_ID_GLO_G1P 2
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#define SIGNAL_ID_GLO_G2CA 3
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#define SIGNAL_ID_GLO_G2P 4
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#define SIGNAL_ID_GAL_E5A 1
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#define SIGNAL_ID_GAL_E5B 2
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#define SIGNAL_ID_GAL_E5AB 3
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#define SIGNAL_ID_GAL_E6A 4
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#define SIGNAL_ID_GAL_E6BC 5
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#define SIGNAL_ID_GAL_L1A 6
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#define SIGNAL_ID_GAL_L1BC 7
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#define SIGNAL_ID_BDS_B1I 1
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#define SIGNAL_ID_BDS_B1Q 2
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#define SIGNAL_ID_BDS_B1C 3
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#define SIGNAL_ID_BDS_B1A 4
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#define SIGNAL_ID_BDS_B2A 5
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#define SIGNAL_ID_BDS_B2B 6
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#define SIGNAL_ID_BDS_B2AB 7
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#define SIGNAL_ID_BDS_B3I 8
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#define SIGNAL_ID_BDS_B3Q 9
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#define SIGNAL_ID_BDS_B3A 0xA
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#define SIGNAL_ID_BDS_B2I 0xB
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#define SIGNAL_ID_BDS_B2Q 0xC
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#define SIGNAL_ID_QZSS_L1CA 1
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#define SIGNAL_ID_QZSS_L1CD 2
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#define SIGNAL_ID_QZSS_L1CP 3
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#define SIGNAL_ID_QZSS_LIS 4
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#define SIGNAL_ID_QZSS_L2CM 5
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#define SIGNAL_ID_QZSS_L2CL 6
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#define SIGNAL_ID_QZSS_L5I 7
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#define SIGNAL_ID_QZSS_L5Q 8
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#define SIGNAL_ID_QZSS_L6D 9
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#define SIGNAL_ID_QZSS_L6E 0xA
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#define SIGNAL_ID_NAVIC_L5SPS 1
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#define SIGNAL_ID_NAVIC_SSPS 2
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#define SIGNAL_ID_NAVIC_L5RS 3
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#define SIGNAL_ID_NAVIC_SRS 4
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#define SIGNAL_ID_NAVIC_L1SPS 5
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typedef struct loc_nmea_sv_meta_s
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{
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char talker[3];
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LocGnssConstellationType svType;
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uint64_t mask;
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uint32_t svCount;
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uint32_t totalSvUsedCount;
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uint32_t svIdOffset;
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uint32_t signalId;
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uint32_t systemId;
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} loc_nmea_sv_meta;
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typedef struct loc_sv_cache_info_s
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{
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uint64_t gps_used_mask;
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uint64_t glo_used_mask;
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uint64_t gal_used_mask;
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uint64_t qzss_used_mask;
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uint64_t bds_used_mask;
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uint64_t navic_used_mask;
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uint32_t gps_l1_count;
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uint32_t gps_l2_count;
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uint32_t gps_l5_count;
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uint32_t glo_g1_count;
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uint32_t glo_g2_count;
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uint32_t gal_e1_count;
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uint32_t gal_e5_count;
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uint32_t gal_e5b_count;
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uint32_t qzss_l1_count;
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uint32_t qzss_l5_count;
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uint32_t bds_b1i_count;
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uint32_t bds_b1c_count;
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uint32_t bds_b2_count;
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uint32_t navic_l5_count;
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float hdop;
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float pdop;
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float vdop;
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} loc_sv_cache_info;
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/*===========================================================================
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FUNCTION convert_Lla_to_Ecef
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DESCRIPTION
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Convert LLA to ECEF
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DEPENDENCIES
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NONE
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RETURN VALUE
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NONE
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SIDE EFFECTS
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N/A
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===========================================================================*/
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static void convert_Lla_to_Ecef(const LocLla& plla, LocEcef& pecef)
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{
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double r;
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r = MAJA / sqrt(1.0 - ESQR * sin(plla.lat) * sin(plla.lat));
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pecef.X = (r + plla.alt) * cos(plla.lat) * cos(plla.lon);
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pecef.Y = (r + plla.alt) * cos(plla.lat) * sin(plla.lon);
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pecef.Z = (r * OMES + plla.alt) * sin(plla.lat);
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}
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/*===========================================================================
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FUNCTION convert_WGS84_to_PZ90
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DESCRIPTION
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Convert datum from WGS84 to PZ90
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DEPENDENCIES
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NONE
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RETURN VALUE
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NONE
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SIDE EFFECTS
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N/A
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===========================================================================*/
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static void convert_WGS84_to_PZ90(const LocEcef& pWGS84, LocEcef& pPZ90)
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{
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double deltaX = DatumConstFromWGS84[0];
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double deltaY = DatumConstFromWGS84[1];
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double deltaZ = DatumConstFromWGS84[2];
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double deltaScale = DatumConstFromWGS84[3];
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double rotX = DatumConstFromWGS84[4];
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double rotY = DatumConstFromWGS84[5];
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double rotZ = DatumConstFromWGS84[6];
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pPZ90.X = deltaX + deltaScale * (pWGS84.X + rotZ * pWGS84.Y - rotY * pWGS84.Z);
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pPZ90.Y = deltaY + deltaScale * (pWGS84.Y - rotZ * pWGS84.X + rotX * pWGS84.Z);
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pPZ90.Z = deltaZ + deltaScale * (pWGS84.Z + rotY * pWGS84.X - rotX * pWGS84.Y);
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}
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/*===========================================================================
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FUNCTION convert_Ecef_to_Lla
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DESCRIPTION
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Convert ECEF to LLA
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DEPENDENCIES
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NONE
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RETURN VALUE
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NONE
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SIDE EFFECTS
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N/A
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===========================================================================*/
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static void convert_Ecef_to_Lla(const LocEcef& pecef, LocLla& plla)
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{
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double p, r;
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double EcefA = C_PZ90A;
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double EcefB = C_PZ90B;
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double Ecef1Mf;
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double EcefE2;
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double Mu;
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double Smu;
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double Cmu;
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double Phi;
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double Sphi;
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double N;
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p = sqrt(pecef.X * pecef.X + pecef.Y * pecef.Y);
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r = sqrt(p * p + pecef.Z * pecef.Z);
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if (r < 1.0) {
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plla.lat = 1.0;
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plla.lon = 1.0;
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plla.alt = 1.0;
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}
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Ecef1Mf = 1.0 - (EcefA - EcefB) / EcefA;
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EcefE2 = 1.0 - (EcefB * EcefB) / (EcefA * EcefA);
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if (p > 1.0) {
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Mu = atan2(pecef.Z * (Ecef1Mf + EcefE2 * EcefA / r), p);
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} else {
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if (pecef.Z > 0.0) {
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Mu = M_PI / 2.0;
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} else {
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Mu = -M_PI / 2.0;
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}
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}
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Smu = sin(Mu);
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Cmu = cos(Mu);
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Phi = atan2(pecef.Z * Ecef1Mf + EcefE2 * EcefA * Smu * Smu * Smu,
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Ecef1Mf * (p - EcefE2 * EcefA * Cmu * Cmu * Cmu));
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Sphi = sin(Phi);
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N = EcefA / sqrt(1.0 - EcefE2 * Sphi * Sphi);
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plla.alt = p * cos(Phi) + pecef.Z * Sphi - EcefA * EcefA/N;
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plla.lat = Phi;
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if ( p > 1.0) {
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plla.lon = atan2(pecef.Y, pecef.X);
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} else {
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plla.lon = 0.0;
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}
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}
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/*===========================================================================
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FUNCTION convert_signalType_to_signalId
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DESCRIPTION
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convert signalType to signal ID
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DEPENDENCIES
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NONE
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RETURN VALUE
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value of signal ID
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SIDE EFFECTS
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N/A
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===========================================================================*/
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static uint32_t convert_signalType_to_signalId(GnssSignalTypeMask signalType)
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{
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uint32_t signalId = SIGNAL_ID_ALL_SIGNALS;
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switch (signalType) {
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case GNSS_SIGNAL_GPS_L1CA:
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signalId = SIGNAL_ID_GPS_L1CA;
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break;
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case GNSS_SIGNAL_GPS_L2:
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signalId = SIGNAL_ID_GPS_L2CL;
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break;
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case GNSS_SIGNAL_GPS_L5:
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signalId = SIGNAL_ID_GPS_L5Q;
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break;
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case GNSS_SIGNAL_GLONASS_G1:
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signalId = SIGNAL_ID_GLO_G1CA;
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break;
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case GNSS_SIGNAL_GLONASS_G2:
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signalId = SIGNAL_ID_GLO_G2CA;
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break;
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case GNSS_SIGNAL_GALILEO_E1:
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signalId = SIGNAL_ID_GAL_L1BC;
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break;
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case GNSS_SIGNAL_GALILEO_E5A:
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signalId = SIGNAL_ID_GAL_E5A;
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break;
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case GNSS_SIGNAL_GALILEO_E5B:
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signalId = SIGNAL_ID_GAL_E5B;
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break;
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case GNSS_SIGNAL_QZSS_L1CA:
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signalId = SIGNAL_ID_QZSS_L1CA;
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break;
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case GNSS_SIGNAL_QZSS_L2:
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signalId = SIGNAL_ID_QZSS_L2CL;
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break;
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case GNSS_SIGNAL_QZSS_L5:
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signalId = SIGNAL_ID_QZSS_L5Q;
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break;
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case GNSS_SIGNAL_BEIDOU_B1I:
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signalId = SIGNAL_ID_BDS_B1I;
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break;
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case GNSS_SIGNAL_BEIDOU_B1C:
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signalId = SIGNAL_ID_BDS_B1C;
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break;
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case GNSS_SIGNAL_BEIDOU_B2I:
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signalId = SIGNAL_ID_BDS_B2I;
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break;
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case GNSS_SIGNAL_BEIDOU_B2AI:
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case GNSS_SIGNAL_BEIDOU_B2AQ:
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signalId = SIGNAL_ID_BDS_B2A;
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break;
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case GNSS_SIGNAL_NAVIC_L5:
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signalId = SIGNAL_ID_NAVIC_L5SPS;
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break;
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default:
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signalId = SIGNAL_ID_ALL_SIGNALS;
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}
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return signalId;
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}
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/*===========================================================================
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FUNCTION get_sv_count_from_mask
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DESCRIPTION
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get the sv count from bit mask
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DEPENDENCIES
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NONE
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RETURN VALUE
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value of sv count
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SIDE EFFECTS
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N/A
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===========================================================================*/
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static uint32_t get_sv_count_from_mask(uint64_t svMask, int totalSvCount)
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{
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int index = 0;
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uint32_t svCount = 0;
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if(totalSvCount > MAX_SV_COUNT_SUPPORTED_IN_ONE_CONSTELLATION) {
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LOC_LOGE("total SV count in this constellation %d exceeded limit %d",
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totalSvCount, MAX_SV_COUNT_SUPPORTED_IN_ONE_CONSTELLATION);
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}
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for(index = 0; index < totalSvCount; index++) {
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if(svMask & 0x1)
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svCount += 1;
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svMask >>= 1;
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}
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return svCount;
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}
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/*===========================================================================
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FUNCTION loc_nmea_sv_meta_init
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DESCRIPTION
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Init loc_nmea_sv_meta passed in
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DEPENDENCIES
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NONE
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RETURN VALUE
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Pointer to loc_nmea_sv_meta
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SIDE EFFECTS
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N/A
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===========================================================================*/
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static loc_nmea_sv_meta* loc_nmea_sv_meta_init(loc_nmea_sv_meta& sv_meta,
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loc_sv_cache_info& sv_cache_info,
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GnssSvType svType,
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GnssSignalTypeMask signalType,
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bool needCombine)
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{
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memset(&sv_meta, 0, sizeof(sv_meta));
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sv_meta.svType = svType;
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switch (svType)
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{
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case GNSS_SV_TYPE_GPS:
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sv_meta.talker[0] = 'G';
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sv_meta.talker[1] = 'P';
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sv_meta.mask = sv_cache_info.gps_used_mask;
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sv_meta.systemId = SYSTEM_ID_GPS;
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if (GNSS_SIGNAL_GPS_L1CA == signalType) {
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sv_meta.svCount = sv_cache_info.gps_l1_count;
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} else if (GNSS_SIGNAL_GPS_L5 == signalType) {
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sv_meta.svCount = sv_cache_info.gps_l5_count;
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} else if (GNSS_SIGNAL_GPS_L2 == signalType) {
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sv_meta.svCount = sv_cache_info.gps_l2_count;
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}
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break;
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case GNSS_SV_TYPE_GLONASS:
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sv_meta.talker[0] = 'G';
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sv_meta.talker[1] = 'L';
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sv_meta.mask = sv_cache_info.glo_used_mask;
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// GLONASS SV ids are from 65-96
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sv_meta.svIdOffset = GLONASS_SV_ID_OFFSET;
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sv_meta.systemId = SYSTEM_ID_GLONASS;
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if (GNSS_SIGNAL_GLONASS_G1 == signalType) {
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sv_meta.svCount = sv_cache_info.glo_g1_count;
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} else if (GNSS_SIGNAL_GLONASS_G2 == signalType) {
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sv_meta.svCount = sv_cache_info.glo_g2_count;
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}
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break;
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case GNSS_SV_TYPE_GALILEO:
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sv_meta.talker[0] = 'G';
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sv_meta.talker[1] = 'A';
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sv_meta.mask = sv_cache_info.gal_used_mask;
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// GALILEO SV ids are from 301-336, So keep svIdOffset 300
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sv_meta.svIdOffset = GALILEO_SV_ID_OFFSET;
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sv_meta.systemId = SYSTEM_ID_GALILEO;
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if (GNSS_SIGNAL_GALILEO_E1 == signalType) {
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sv_meta.svCount = sv_cache_info.gal_e1_count;
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} else if (GNSS_SIGNAL_GALILEO_E5A == signalType) {
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sv_meta.svCount = sv_cache_info.gal_e5_count;
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} else if (GNSS_SIGNAL_GALILEO_E5B == signalType) {
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sv_meta.svCount == sv_cache_info.gal_e5b_count;
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}
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break;
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case GNSS_SV_TYPE_QZSS:
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sv_meta.talker[0] = 'G';
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sv_meta.talker[1] = 'Q';
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sv_meta.mask = sv_cache_info.qzss_used_mask;
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// QZSS SV ids are from 193-199. So keep svIdOffset 192
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sv_meta.svIdOffset = QZSS_SV_ID_OFFSET;
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sv_meta.systemId = SYSTEM_ID_QZSS;
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if (GNSS_SIGNAL_QZSS_L1CA == signalType) {
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sv_meta.svCount = sv_cache_info.qzss_l1_count;
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} else if (GNSS_SIGNAL_QZSS_L5 == signalType) {
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sv_meta.svCount = sv_cache_info.qzss_l5_count;
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}
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break;
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case GNSS_SV_TYPE_BEIDOU:
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sv_meta.talker[0] = 'G';
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sv_meta.talker[1] = 'B';
|
|
sv_meta.mask = sv_cache_info.bds_used_mask;
|
|
// BDS SV ids are from 201-237. So keep svIdOffset 200
|
|
sv_meta.svIdOffset = BDS_SV_ID_OFFSET;
|
|
sv_meta.systemId = SYSTEM_ID_BDS;
|
|
if (GNSS_SIGNAL_BEIDOU_B1I == signalType) {
|
|
sv_meta.svCount = sv_cache_info.bds_b1i_count;
|
|
} else if (GNSS_SIGNAL_BEIDOU_B1C == signalType) {
|
|
sv_meta.svCount = sv_cache_info.bds_b1c_count;
|
|
} else if (GNSS_SIGNAL_BEIDOU_B2AI == signalType) {
|
|
sv_meta.svCount = sv_cache_info.bds_b2_count;
|
|
}
|
|
break;
|
|
case GNSS_SV_TYPE_NAVIC:
|
|
sv_meta.talker[0] = 'G';
|
|
sv_meta.talker[1] = 'I';
|
|
sv_meta.mask = sv_cache_info.navic_used_mask;
|
|
// NAVIC SV ids are from 401-414. So keep svIdOffset 400
|
|
sv_meta.svIdOffset = NAVIC_SV_ID_OFFSET;
|
|
sv_meta.systemId = SYSTEM_ID_NAVIC;
|
|
if (GNSS_SIGNAL_NAVIC_L5 == signalType) {
|
|
sv_meta.svCount = sv_cache_info.navic_l5_count;
|
|
}
|
|
break;
|
|
default:
|
|
LOC_LOGE("NMEA Error unknow constellation type: %d", svType);
|
|
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) +
|
|
(sv_cache_info.gal_used_mask ? 1 : 0) +
|
|
(sv_cache_info.qzss_used_mask ? 1 : 0) +
|
|
(sv_cache_info.bds_used_mask ? 1 : 0) +
|
|
(sv_cache_info.navic_used_mask ? 1 : 0) > 1)
|
|
{
|
|
// If GPS, GLONASS, Galileo, QZSS, BDS etc. are combined
|
|
// to obtain the reported position solution,
|
|
// talker shall be set to GN, to indicate that
|
|
// the satellites are used in a combined solution
|
|
sv_meta.talker[0] = 'G';
|
|
sv_meta.talker[1] = 'N';
|
|
}
|
|
return &sv_meta;
|
|
}
|
|
|
|
/*===========================================================================
|
|
FUNCTION loc_nmea_put_checksum
|
|
|
|
DESCRIPTION
|
|
Generate NMEA sentences generated based on position report
|
|
|
|
DEPENDENCIES
|
|
NONE
|
|
|
|
RETURN VALUE
|
|
Total length of the nmea sentence
|
|
|
|
SIDE EFFECTS
|
|
N/A
|
|
|
|
===========================================================================*/
|
|
static int loc_nmea_put_checksum(char *pNmea, int maxSize)
|
|
{
|
|
uint8_t checksum = 0;
|
|
int length = 0;
|
|
if(NULL == pNmea)
|
|
return 0;
|
|
|
|
pNmea++; //skip the $
|
|
while (*pNmea != '\0')
|
|
{
|
|
checksum ^= *pNmea++;
|
|
length++;
|
|
}
|
|
|
|
// length now contains nmea sentence string length not including $ sign.
|
|
int checksumLength = snprintf(pNmea,(maxSize-length-1),"*%02X\r\n", checksum);
|
|
|
|
// total length of nmea sentence is length of nmea sentence inc $ sign plus
|
|
// length of checksum (+1 is to cover the $ character in the length).
|
|
return (length + checksumLength + 1);
|
|
}
|
|
|
|
/*===========================================================================
|
|
FUNCTION loc_nmea_generate_GSA
|
|
|
|
DESCRIPTION
|
|
Generate NMEA GSA sentences generated based on position report
|
|
Currently below sentences are generated:
|
|
- $GPGSA : GPS DOP and active SVs
|
|
- $GLGSA : GLONASS DOP and active SVs
|
|
- $GAGSA : GALILEO DOP and active SVs
|
|
- $GNGSA : GNSS DOP and active SVs
|
|
|
|
DEPENDENCIES
|
|
NONE
|
|
|
|
RETURN VALUE
|
|
Number of SVs used
|
|
|
|
SIDE EFFECTS
|
|
N/A
|
|
|
|
===========================================================================*/
|
|
static uint32_t loc_nmea_generate_GSA(const GpsLocationExtended &locationExtended,
|
|
char* sentence,
|
|
int bufSize,
|
|
loc_nmea_sv_meta* sv_meta_p,
|
|
std::vector<std::string> &nmeaArraystr)
|
|
{
|
|
if (!sentence || bufSize <= 0 || !sv_meta_p)
|
|
{
|
|
LOC_LOGE("NMEA Error invalid arguments.");
|
|
return 0;
|
|
}
|
|
|
|
char* pMarker = sentence;
|
|
int lengthRemaining = bufSize;
|
|
int length = 0;
|
|
|
|
uint32_t svUsedCount = 0;
|
|
uint32_t svUsedList[64] = {0};
|
|
|
|
char fixType = '\0';
|
|
|
|
const char* talker = sv_meta_p->talker;
|
|
uint32_t svIdOffset = sv_meta_p->svIdOffset;
|
|
uint64_t mask = sv_meta_p->mask;
|
|
|
|
if(sv_meta_p->svType != GNSS_SV_TYPE_GLONASS) {
|
|
svIdOffset = 0;
|
|
}
|
|
|
|
for (uint8_t i = 1; mask > 0 && svUsedCount < 64; i++)
|
|
{
|
|
if (mask & 1)
|
|
svUsedList[svUsedCount++] = i + svIdOffset;
|
|
mask = mask >> 1;
|
|
}
|
|
|
|
if (svUsedCount == 0)
|
|
return 0;
|
|
|
|
if (sv_meta_p->totalSvUsedCount == 0)
|
|
fixType = '1'; // no fix
|
|
else if (sv_meta_p->totalSvUsedCount <= 3)
|
|
fixType = '2'; // 2D fix
|
|
else
|
|
fixType = '3'; // 3D fix
|
|
|
|
// Start printing the sentence
|
|
// Format: $--GSA,a,x,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,p.p,h.h,v.v,s*cc
|
|
// a : Mode : A : Automatic, allowed to automatically switch 2D/3D
|
|
// x : Fixtype : 1 (no fix), 2 (2D fix), 3 (3D fix)
|
|
// xx : 12 SV ID
|
|
// p.p : Position DOP (Dilution of Precision)
|
|
// h.h : Horizontal DOP
|
|
// v.v : Vertical DOP
|
|
// s : GNSS System Id
|
|
// cc : Checksum value
|
|
length = snprintf(pMarker, lengthRemaining, "$%sGSA,A,%c,", talker, fixType);
|
|
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return 0;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
// Add first 12 satellite IDs
|
|
for (uint8_t i = 0; i < 12; i++)
|
|
{
|
|
if (i < svUsedCount)
|
|
length = snprintf(pMarker, lengthRemaining, "%02d,", svUsedList[i]);
|
|
else
|
|
length = snprintf(pMarker, lengthRemaining, ",");
|
|
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return 0;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
}
|
|
|
|
// Add the position/horizontal/vertical DOP values
|
|
if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DOP)
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining, "%.1f,%.1f,%.1f,",
|
|
locationExtended.pdop,
|
|
locationExtended.hdop,
|
|
locationExtended.vdop);
|
|
}
|
|
else
|
|
{ // no dop
|
|
length = snprintf(pMarker, lengthRemaining, ",,,");
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
// system id
|
|
length = snprintf(pMarker, lengthRemaining, "%d", sv_meta_p->systemId);
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
/* Sentence is ready, add checksum and broadcast */
|
|
length = loc_nmea_put_checksum(sentence, bufSize);
|
|
nmeaArraystr.push_back(sentence);
|
|
|
|
return svUsedCount;
|
|
}
|
|
|
|
/*===========================================================================
|
|
FUNCTION loc_nmea_generate_GSV
|
|
|
|
DESCRIPTION
|
|
Generate NMEA GSV sentences generated based on sv report
|
|
Currently below sentences are generated:
|
|
- $GPGSV: GPS Satellites in View
|
|
- $GLGSV: GLONASS Satellites in View
|
|
- $GAGSV: GALILEO Satellites in View
|
|
|
|
DEPENDENCIES
|
|
NONE
|
|
|
|
RETURN VALUE
|
|
NONE
|
|
|
|
SIDE EFFECTS
|
|
N/A
|
|
|
|
===========================================================================*/
|
|
static void loc_nmea_generate_GSV(const GnssSvNotification &svNotify,
|
|
char* sentence,
|
|
int bufSize,
|
|
loc_nmea_sv_meta* sv_meta_p,
|
|
std::vector<std::string> &nmeaArraystr)
|
|
{
|
|
if (!sentence || bufSize <= 0)
|
|
{
|
|
LOC_LOGE("NMEA Error invalid argument.");
|
|
return;
|
|
}
|
|
|
|
char* pMarker = sentence;
|
|
int lengthRemaining = bufSize;
|
|
int length = 0;
|
|
int sentenceCount = 0;
|
|
int sentenceNumber = 1;
|
|
size_t svNumber = 1;
|
|
|
|
const char* talker = sv_meta_p->talker;
|
|
uint32_t svIdOffset = sv_meta_p->svIdOffset;
|
|
int svCount = sv_meta_p->svCount;
|
|
if (svCount <= 0)
|
|
{
|
|
LOC_LOGV("No SV in view for talker ID:%s, signal ID:%X", talker, sv_meta_p->signalId);
|
|
return;
|
|
}
|
|
|
|
if (GNSS_SV_TYPE_GLONASS == sv_meta_p->svType) {
|
|
svIdOffset = 0;
|
|
}
|
|
svNumber = 1;
|
|
sentenceNumber = 1;
|
|
sentenceCount = svCount / 4 + (svCount % 4 != 0);
|
|
|
|
while (sentenceNumber <= sentenceCount)
|
|
{
|
|
pMarker = sentence;
|
|
lengthRemaining = bufSize;
|
|
|
|
length = snprintf(pMarker, lengthRemaining, "$%sGSV,%d,%d,%02d",
|
|
talker, sentenceCount, sentenceNumber, svCount);
|
|
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
for (int i=0; (svNumber <= svNotify.count) && (i < 4); svNumber++)
|
|
{
|
|
GnssSignalTypeMask signalType = svNotify.gnssSvs[svNumber-1].gnssSignalTypeMask;
|
|
if (0 == signalType) {
|
|
// If no signal type in report, it means default L1,G1,E1,B1I
|
|
switch (svNotify.gnssSvs[svNumber - 1].type)
|
|
{
|
|
case GNSS_SV_TYPE_GPS:
|
|
signalType = GNSS_SIGNAL_GPS_L1CA;
|
|
break;
|
|
case GNSS_SV_TYPE_GLONASS:
|
|
signalType = GNSS_SIGNAL_GLONASS_G1;
|
|
break;
|
|
case GNSS_SV_TYPE_GALILEO:
|
|
signalType = GNSS_SIGNAL_GALILEO_E1;
|
|
break;
|
|
case GNSS_SV_TYPE_QZSS:
|
|
signalType = GNSS_SIGNAL_QZSS_L1CA;
|
|
break;
|
|
case GNSS_SV_TYPE_BEIDOU:
|
|
signalType = GNSS_SIGNAL_BEIDOU_B1I;
|
|
break;
|
|
case GNSS_SV_TYPE_SBAS:
|
|
signalType = GNSS_SIGNAL_SBAS_L1;
|
|
break;
|
|
case GNSS_SV_TYPE_NAVIC:
|
|
signalType = GNSS_SIGNAL_NAVIC_L5;
|
|
break;
|
|
default:
|
|
LOC_LOGE("NMEA Error unknow constellation type: %d",
|
|
svNotify.gnssSvs[svNumber - 1].type);
|
|
continue;
|
|
}
|
|
}
|
|
|
|
if (sv_meta_p->svType == svNotify.gnssSvs[svNumber - 1].type &&
|
|
sv_meta_p->signalId == convert_signalType_to_signalId(signalType))
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining,",%02d,%02d,%03d,",
|
|
svNotify.gnssSvs[svNumber - 1].svId - svIdOffset,
|
|
(int)(0.5 + svNotify.gnssSvs[svNumber - 1].elevation), //float to int
|
|
(int)(0.5 + svNotify.gnssSvs[svNumber - 1].azimuth)); //float to int
|
|
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
if (svNotify.gnssSvs[svNumber - 1].cN0Dbhz > 0)
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining,"%02d",
|
|
(int)(0.5 + svNotify.gnssSvs[svNumber - 1].cN0Dbhz)); //float to int
|
|
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
}
|
|
|
|
i++;
|
|
}
|
|
|
|
}
|
|
|
|
// append signalId
|
|
length = snprintf(pMarker, lengthRemaining,",%X",sv_meta_p->signalId);
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
length = loc_nmea_put_checksum(sentence, bufSize);
|
|
nmeaArraystr.push_back(sentence);
|
|
sentenceNumber++;
|
|
|
|
} //while
|
|
}
|
|
|
|
/*===========================================================================
|
|
FUNCTION loc_nmea_generate_DTM
|
|
|
|
DESCRIPTION
|
|
Generate NMEA DTM sentences generated based on position report
|
|
|
|
DEPENDENCIES
|
|
NONE
|
|
|
|
RETURN VALUE
|
|
NONE
|
|
|
|
SIDE EFFECTS
|
|
N/A
|
|
|
|
===========================================================================*/
|
|
static void loc_nmea_generate_DTM(const LocLla &ref_lla,
|
|
const LocLla &local_lla,
|
|
char *talker,
|
|
char *sentence,
|
|
int bufSize)
|
|
{
|
|
char* pMarker = sentence;
|
|
int lengthRemaining = bufSize;
|
|
int length = 0;
|
|
int datum_type;
|
|
char ref_datum[4] = {0};
|
|
char local_datum[4] = {0};
|
|
double lla_offset[3] = {0};
|
|
char latHem, longHem;
|
|
double latMins, longMins;
|
|
|
|
|
|
|
|
datum_type = loc_get_datum_type();
|
|
switch (datum_type) {
|
|
case LOC_GNSS_DATUM_WGS84:
|
|
ref_datum[0] = 'W';
|
|
ref_datum[1] = '8';
|
|
ref_datum[2] = '4';
|
|
local_datum[0] = 'P';
|
|
local_datum[1] = '9';
|
|
local_datum[2] = '0';
|
|
break;
|
|
case LOC_GNSS_DATUM_PZ90:
|
|
ref_datum[0] = 'P';
|
|
ref_datum[1] = '9';
|
|
ref_datum[2] = '0';
|
|
local_datum[0] = 'W';
|
|
local_datum[1] = '8';
|
|
local_datum[2] = '4';
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
length = snprintf(pMarker , lengthRemaining , "$%sDTM,%s,," , talker, local_datum);
|
|
if (length < 0 || length >= lengthRemaining) {
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
lla_offset[0] = local_lla.lat - ref_lla.lat;
|
|
lla_offset[1] = fmod(local_lla.lon - ref_lla.lon, 360.0);
|
|
if (lla_offset[1] < -180.0) {
|
|
lla_offset[1] += 360.0;
|
|
} else if ( lla_offset[1] > 180.0) {
|
|
lla_offset[1] -= 360.0;
|
|
}
|
|
lla_offset[2] = local_lla.alt - ref_lla.alt;
|
|
if (lla_offset[0] > 0.0) {
|
|
latHem = 'N';
|
|
} else {
|
|
latHem = 'S';
|
|
lla_offset[0] *= -1.0;
|
|
}
|
|
latMins = fmod(lla_offset[0] * 60.0, 60.0);
|
|
if (lla_offset[1] < 0.0) {
|
|
longHem = 'W';
|
|
lla_offset[1] *= -1.0;
|
|
}else {
|
|
longHem = 'E';
|
|
}
|
|
longMins = fmod(lla_offset[1] * 60.0, 60.0);
|
|
length = snprintf(pMarker, lengthRemaining, "%02d%09.6lf,%c,%03d%09.6lf,%c,%.3lf,",
|
|
(uint8_t)floor(lla_offset[0]), latMins, latHem,
|
|
(uint8_t)floor(lla_offset[1]), longMins, longHem, lla_offset[2]);
|
|
if (length < 0 || length >= lengthRemaining) {
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
length = snprintf(pMarker , lengthRemaining , "%s" , ref_datum);
|
|
if (length < 0 || length >= lengthRemaining) {
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
length = loc_nmea_put_checksum(sentence, bufSize);
|
|
}
|
|
|
|
/*===========================================================================
|
|
FUNCTION get_utctime_with_leapsecond_transition
|
|
|
|
DESCRIPTION
|
|
This function returns true if the position report is generated during
|
|
leap second transition period. If not, then the utc timestamp returned
|
|
will be set to the timestamp in the position report. If it is,
|
|
then the utc timestamp returned will need to take into account
|
|
of the leap second transition so that proper calendar year/month/date
|
|
can be calculated from the returned utc timestamp.
|
|
|
|
DEPENDENCIES
|
|
NONE
|
|
|
|
RETURN VALUE
|
|
true: position report is generated in leap second transition period.
|
|
|
|
SIDE EFFECTS
|
|
N/A
|
|
|
|
===========================================================================*/
|
|
static bool get_utctime_with_leapsecond_transition(
|
|
const UlpLocation &location,
|
|
const GpsLocationExtended &locationExtended,
|
|
const LocationSystemInfo &systemInfo,
|
|
LocGpsUtcTime &utcPosTimestamp)
|
|
{
|
|
bool inTransition = false;
|
|
|
|
// position report is not generated during leap second transition,
|
|
// we can use the UTC timestamp from position report as is
|
|
utcPosTimestamp = location.gpsLocation.timestamp;
|
|
|
|
// Check whether we are in leap second transition.
|
|
// If so, per NMEA spec, we need to display the extra second in format of 23:59:60
|
|
// with year/month/date not getting advanced.
|
|
if ((locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_GPS_TIME) &&
|
|
((systemInfo.systemInfoMask & LOCATION_SYS_INFO_LEAP_SECOND) &&
|
|
(systemInfo.leapSecondSysInfo.leapSecondInfoMask &
|
|
LEAP_SECOND_SYS_INFO_LEAP_SECOND_CHANGE_BIT))) {
|
|
|
|
const LeapSecondChangeInfo &leapSecondChangeInfo =
|
|
systemInfo.leapSecondSysInfo.leapSecondChangeInfo;
|
|
const GnssSystemTimeStructType &gpsTimestampLsChange =
|
|
leapSecondChangeInfo.gpsTimestampLsChange;
|
|
|
|
uint64_t gpsTimeLsChange = gpsTimestampLsChange.systemWeek * MSEC_IN_ONE_WEEK +
|
|
gpsTimestampLsChange.systemMsec;
|
|
uint64_t gpsTimePosReport = locationExtended.gpsTime.gpsWeek * MSEC_IN_ONE_WEEK +
|
|
locationExtended.gpsTime.gpsTimeOfWeekMs;
|
|
// we are only dealing with positive leap second change, as negative
|
|
// leap second change has never occurred and should not occur in future
|
|
if (leapSecondChangeInfo.leapSecondsAfterChange >
|
|
leapSecondChangeInfo.leapSecondsBeforeChange) {
|
|
// leap second adjustment is always 1 second at a time. It can happen
|
|
// every quarter end and up to four times per year.
|
|
if ((gpsTimePosReport >= gpsTimeLsChange) &&
|
|
(gpsTimePosReport < (gpsTimeLsChange + 1000))) {
|
|
inTransition = true;
|
|
utcPosTimestamp = gpsTimeLsChange + UTC_GPS_OFFSET_MSECS -
|
|
leapSecondChangeInfo.leapSecondsBeforeChange * 1000;
|
|
|
|
// we substract 1000 milli-seconds from UTC timestmap in order to calculate the
|
|
// proper year, month and date during leap second transtion.
|
|
// Let us give an example, assuming leap second transition is scheduled on 2019,
|
|
// Dec 31st mid night. When leap second transition is happening,
|
|
// instead of outputting the time as 2020, Jan, 1st, 00 hour, 00 min, and 00 sec.
|
|
// The time need to be displayed as 2019, Dec, 31st, 23 hour, 59 min and 60 sec.
|
|
utcPosTimestamp -= 1000;
|
|
}
|
|
}
|
|
}
|
|
return inTransition;
|
|
}
|
|
|
|
/*===========================================================================
|
|
FUNCTION loc_nmea_get_fix_quality
|
|
|
|
DESCRIPTION
|
|
This function obtains the fix quality for GGA sentence, mode indicator
|
|
for RMC and VTG sentence based on nav solution mask and tech mask in
|
|
the postion report.
|
|
|
|
DEPENDENCIES
|
|
NONE
|
|
|
|
Output parameter
|
|
ggaGpsQuality: gps quality field in GGA sentence
|
|
rmcModeIndicator: mode indicator field in RMC sentence
|
|
vtgModeIndicator: mode indicator field in VTG sentence
|
|
|
|
SIDE EFFECTS
|
|
N/A
|
|
|
|
===========================================================================*/
|
|
static void loc_nmea_get_fix_quality(const UlpLocation & location,
|
|
const GpsLocationExtended & locationExtended,
|
|
bool custom_gga_fix_quality,
|
|
char ggaGpsQuality[3],
|
|
char & rmcModeIndicator,
|
|
char & vtgModeIndicator,
|
|
char gnsModeIndicator[7]) {
|
|
|
|
ggaGpsQuality[0] = '0'; // 0 means no fix
|
|
rmcModeIndicator = 'N'; // N means no fix
|
|
vtgModeIndicator = 'N'; // N means no fix
|
|
memset(gnsModeIndicator, 'N', 6); // N means no fix
|
|
gnsModeIndicator[6] = '\0';
|
|
do {
|
|
// GGA fix quality is defined in NMEA spec as below:
|
|
// https://www.trimble.com/OEM_ReceiverHelp/V4.44/en/NMEA-0183messages_GGA.html
|
|
// Fix quality: 0 = invalid
|
|
// 1 = GPS fix (SPS)
|
|
// 2 = DGPS fix
|
|
// 3 = PPS fix
|
|
// 4 = Real Time Kinematic
|
|
// 5 = Float RTK
|
|
// 6 = estimated (dead reckoning) (2.3 feature)
|
|
// 7 = Manual input mode
|
|
// 8 = Simulation mode
|
|
if (!(location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_LAT_LONG)){
|
|
break;
|
|
}
|
|
// NOTE: Order of the check is important
|
|
if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_NAV_SOLUTION_MASK) {
|
|
if (LOC_NAV_MASK_PPP_CORRECTION & locationExtended.navSolutionMask) {
|
|
ggaGpsQuality[0] = '2'; // 2 means DGPS fix
|
|
rmcModeIndicator = 'P'; // P means precise
|
|
vtgModeIndicator = 'P'; // P means precise
|
|
if (locationExtended.gnss_sv_used_ids.gps_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[0] = 'P'; // P means precise
|
|
if (locationExtended.gnss_sv_used_ids.glo_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[1] = 'P'; // P means precise
|
|
if (locationExtended.gnss_sv_used_ids.gal_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[2] = 'P'; // P means precise
|
|
if (locationExtended.gnss_sv_used_ids.bds_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[3] = 'P'; // P means precise
|
|
if (locationExtended.gnss_sv_used_ids.qzss_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[4] = 'P'; // P means precise
|
|
if (locationExtended.gnss_sv_used_ids.navic_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[5] = 'P'; // P means precise
|
|
break;
|
|
} else if (LOC_NAV_MASK_RTK_FIXED_CORRECTION & locationExtended.navSolutionMask){
|
|
ggaGpsQuality[0] = '4'; // 4 means RTK Fixed fix
|
|
rmcModeIndicator = 'R'; // use R (RTK fixed)
|
|
vtgModeIndicator = 'D'; // use D (differential) as
|
|
// no RTK fixed defined for VTG in NMEA 183 spec
|
|
if (locationExtended.gnss_sv_used_ids.gps_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[0] = 'R'; // R means RTK fixed
|
|
if (locationExtended.gnss_sv_used_ids.glo_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[1] = 'R'; // R means RTK fixed
|
|
if (locationExtended.gnss_sv_used_ids.gal_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[2] = 'R'; // R means RTK fixed
|
|
if (locationExtended.gnss_sv_used_ids.bds_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[3] = 'R'; // R means RTK fixed
|
|
if (locationExtended.gnss_sv_used_ids.qzss_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[4] = 'R'; // R means RTK fixed
|
|
if (locationExtended.gnss_sv_used_ids.navic_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[5] = 'R'; // R means RTK fixed
|
|
break;
|
|
} else if (LOC_NAV_MASK_RTK_CORRECTION & locationExtended.navSolutionMask){
|
|
ggaGpsQuality[0] = '5'; // 5 means RTK float fix
|
|
rmcModeIndicator = 'F'; // F means RTK float fix
|
|
vtgModeIndicator = 'D'; // use D (differential) as
|
|
// no RTK float defined for VTG in NMEA 183 spec
|
|
if (locationExtended.gnss_sv_used_ids.gps_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[0] = 'F'; // F means RTK float fix
|
|
if (locationExtended.gnss_sv_used_ids.glo_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[1] = 'F'; // F means RTK float fix
|
|
if (locationExtended.gnss_sv_used_ids.gal_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[2] = 'F'; // F means RTK float fix
|
|
if (locationExtended.gnss_sv_used_ids.bds_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[3] = 'F'; // F means RTK float fix
|
|
if (locationExtended.gnss_sv_used_ids.qzss_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[4] = 'F'; // F means RTK float fix
|
|
if (locationExtended.gnss_sv_used_ids.navic_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[5] = 'F'; // F means RTK float fix
|
|
break;
|
|
} else if (LOC_NAV_MASK_DGNSS_CORRECTION & locationExtended.navSolutionMask){
|
|
ggaGpsQuality[0] = '2'; // 2 means DGPS fix
|
|
rmcModeIndicator = 'D'; // D means differential
|
|
vtgModeIndicator = 'D'; // D means differential
|
|
if (locationExtended.gnss_sv_used_ids.gps_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[0] = 'D'; // D means differential
|
|
if (locationExtended.gnss_sv_used_ids.glo_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[1] = 'D'; // D means differential
|
|
if (locationExtended.gnss_sv_used_ids.gal_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[2] = 'D'; // D means differential
|
|
if (locationExtended.gnss_sv_used_ids.bds_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[3] = 'D'; // D means differential
|
|
if (locationExtended.gnss_sv_used_ids.qzss_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[4] = 'D'; // D means differential
|
|
if (locationExtended.gnss_sv_used_ids.navic_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[5] = 'D'; // D means differential
|
|
break;
|
|
} else if (LOC_NAV_MASK_SBAS_CORRECTION_IONO & locationExtended.navSolutionMask){
|
|
ggaGpsQuality[0] = '2'; // 2 means DGPS fix
|
|
rmcModeIndicator = 'D'; // D means differential
|
|
vtgModeIndicator = 'D'; // D means differential
|
|
if (locationExtended.gnss_sv_used_ids.gps_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[0] = 'D'; // D means differential
|
|
if (locationExtended.gnss_sv_used_ids.glo_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[1] = 'D'; // D means differential
|
|
if (locationExtended.gnss_sv_used_ids.gal_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[2] = 'D'; // D means differential
|
|
if (locationExtended.gnss_sv_used_ids.bds_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[3] = 'D'; // D means differential
|
|
if (locationExtended.gnss_sv_used_ids.qzss_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[4] = 'D'; // D means differential
|
|
if (locationExtended.gnss_sv_used_ids.navic_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[5] = 'D'; // D means differential
|
|
break;
|
|
}
|
|
}
|
|
// NOTE: Order of the check is important
|
|
if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_POS_TECH_MASK) {
|
|
if (LOC_POS_TECH_MASK_SATELLITE & locationExtended.tech_mask){
|
|
ggaGpsQuality[0] = '1'; // 1 means GPS
|
|
rmcModeIndicator = 'A'; // A means autonomous
|
|
vtgModeIndicator = 'A'; // A means autonomous
|
|
if (locationExtended.gnss_sv_used_ids.gps_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[0] = 'A'; // A means autonomous
|
|
if (locationExtended.gnss_sv_used_ids.glo_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[1] = 'A'; // A means autonomous
|
|
if (locationExtended.gnss_sv_used_ids.gal_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[2] = 'A'; // A means autonomous
|
|
if (locationExtended.gnss_sv_used_ids.bds_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[3] = 'A'; // A means autonomous
|
|
if (locationExtended.gnss_sv_used_ids.qzss_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[4] = 'A'; // A means autonomous
|
|
if (locationExtended.gnss_sv_used_ids.navic_sv_used_ids_mask ? 1 : 0)
|
|
gnsModeIndicator[5] = 'A'; // A means autonomous
|
|
break;
|
|
} else if (LOC_POS_TECH_MASK_SENSORS & locationExtended.tech_mask){
|
|
ggaGpsQuality[0] = '6'; // 6 means estimated (dead reckoning)
|
|
rmcModeIndicator = 'E'; // E means estimated (dead reckoning)
|
|
vtgModeIndicator = 'E'; // E means estimated (dead reckoning)
|
|
memset(gnsModeIndicator, 'E', 6); // E means estimated (dead reckoning)
|
|
break;
|
|
}
|
|
}
|
|
} while (0);
|
|
|
|
do {
|
|
// check for customized nmea enabled or not
|
|
// with customized GGA quality enabled
|
|
// PPP fix w/o sensor: 59, PPP fix w/ sensor: 69
|
|
// DGNSS/SBAS correction fix w/o sensor: 2, w/ sensor: 62
|
|
// RTK fixed fix w/o sensor: 4, w/ sensor: 64
|
|
// RTK float fix w/o sensor: 5, w/ sensor: 65
|
|
// SPE fix w/o sensor: 1, and w/ sensor: 61
|
|
// Sensor dead reckoning fix: 6
|
|
if (true == custom_gga_fix_quality) {
|
|
if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_NAV_SOLUTION_MASK) {
|
|
// PPP fix w/o sensor: fix quality will now be 59
|
|
// PPP fix w sensor: fix quality will now be 69
|
|
if (LOC_NAV_MASK_PPP_CORRECTION & locationExtended.navSolutionMask) {
|
|
if ((locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_POS_TECH_MASK) &&
|
|
(LOC_POS_TECH_MASK_SENSORS & locationExtended.tech_mask)) {
|
|
ggaGpsQuality[0] = '6';
|
|
ggaGpsQuality[1] = '9';
|
|
} else {
|
|
ggaGpsQuality[0] = '5';
|
|
ggaGpsQuality[1] = '9';
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_POS_TECH_MASK) {
|
|
if (LOC_POS_TECH_MASK_SENSORS & locationExtended.tech_mask){
|
|
char ggaQuality_copy = ggaGpsQuality[0];
|
|
ggaGpsQuality[0] = '6'; // 6 sensor assisted
|
|
// RTK fixed fix w/ sensor: fix quality will now be 64
|
|
// RTK float fix w/ sensor: 65
|
|
// DGNSS and/or SBAS correction fix and w/ sensor: 62
|
|
// GPS fix without correction and w/ sensor: 61
|
|
if ((LOC_NAV_MASK_RTK_FIXED_CORRECTION & locationExtended.navSolutionMask)||
|
|
(LOC_NAV_MASK_RTK_CORRECTION & locationExtended.navSolutionMask)||
|
|
(LOC_NAV_MASK_DGNSS_CORRECTION & locationExtended.navSolutionMask)||
|
|
(LOC_NAV_MASK_SBAS_CORRECTION_IONO & locationExtended.navSolutionMask)||
|
|
(LOC_POS_TECH_MASK_SATELLITE & locationExtended.tech_mask)) {
|
|
ggaGpsQuality[1] = ggaQuality_copy;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
} while (0);
|
|
|
|
LOC_LOGv("gps quality: %s, rmc mode indicator: %c, vtg mode indicator: %c",
|
|
ggaGpsQuality, rmcModeIndicator, vtgModeIndicator);
|
|
}
|
|
|
|
/*===========================================================================
|
|
FUNCTION loc_nmea_generate_pos
|
|
|
|
DESCRIPTION
|
|
Generate NMEA sentences generated based on position report
|
|
Currently below sentences are generated within this function:
|
|
- $GPGSA : GPS DOP and active SVs
|
|
- $GLGSA : GLONASS DOP and active SVs
|
|
- $GAGSA : GALILEO DOP and active SVs
|
|
- $GNGSA : GNSS DOP and active SVs
|
|
- $--VTG : Track made good and ground speed
|
|
- $--RMC : Recommended minimum navigation information
|
|
- $--GGA : Time, position and fix related data
|
|
|
|
DEPENDENCIES
|
|
NONE
|
|
|
|
RETURN VALUE
|
|
0
|
|
|
|
SIDE EFFECTS
|
|
N/A
|
|
|
|
===========================================================================*/
|
|
void loc_nmea_generate_pos(const UlpLocation &location,
|
|
const GpsLocationExtended &locationExtended,
|
|
const LocationSystemInfo &systemInfo,
|
|
unsigned char generate_nmea,
|
|
bool custom_gga_fix_quality,
|
|
std::vector<std::string> &nmeaArraystr,
|
|
int& indexOfGGA)
|
|
{
|
|
ENTRY_LOG();
|
|
|
|
indexOfGGA = -1;
|
|
LocGpsUtcTime utcPosTimestamp = 0;
|
|
bool inLsTransition = false;
|
|
|
|
inLsTransition = get_utctime_with_leapsecond_transition
|
|
(location, locationExtended, systemInfo, utcPosTimestamp);
|
|
|
|
time_t utcTime(utcPosTimestamp/1000);
|
|
struct tm result;
|
|
tm * pTm = gmtime_r(&utcTime, &result);
|
|
if (NULL == pTm) {
|
|
LOC_LOGE("gmtime failed");
|
|
return;
|
|
}
|
|
|
|
char sentence[NMEA_SENTENCE_MAX_LENGTH] = {0};
|
|
char sentence_DTM[NMEA_SENTENCE_MAX_LENGTH] = {0};
|
|
char sentence_RMC[NMEA_SENTENCE_MAX_LENGTH] = {0};
|
|
char sentence_GNS[NMEA_SENTENCE_MAX_LENGTH] = {0};
|
|
char sentence_GGA[NMEA_SENTENCE_MAX_LENGTH] = {0};
|
|
char* pMarker = sentence;
|
|
int lengthRemaining = sizeof(sentence);
|
|
int length = 0;
|
|
int utcYear = pTm->tm_year % 100; // 2 digit year
|
|
int utcMonth = pTm->tm_mon + 1; // tm_mon starts at zero
|
|
int utcDay = pTm->tm_mday;
|
|
int utcHours = pTm->tm_hour;
|
|
int utcMinutes = pTm->tm_min;
|
|
int utcSeconds = pTm->tm_sec;
|
|
int utcMSeconds = (location.gpsLocation.timestamp)%1000;
|
|
int datum_type = loc_get_datum_type();
|
|
LocEcef ecef_w84;
|
|
LocEcef ecef_p90;
|
|
LocLla lla_w84;
|
|
LocLla lla_p90;
|
|
LocLla ref_lla;
|
|
LocLla local_lla;
|
|
|
|
if (inLsTransition) {
|
|
// During leap second transition, we need to display the extra
|
|
// leap second of hour, minute, second as (23:59:60)
|
|
utcHours = 23;
|
|
utcMinutes = 59;
|
|
utcSeconds = 60;
|
|
// As UTC timestamp is freezing during leap second transition,
|
|
// retrieve milli-seconds portion from GPS timestamp.
|
|
utcMSeconds = locationExtended.gpsTime.gpsTimeOfWeekMs % 1000;
|
|
}
|
|
|
|
loc_sv_cache_info sv_cache_info = {};
|
|
|
|
if (GPS_LOCATION_EXTENDED_HAS_GNSS_SV_USED_DATA & locationExtended.flags) {
|
|
sv_cache_info.gps_used_mask =
|
|
locationExtended.gnss_sv_used_ids.gps_sv_used_ids_mask;
|
|
sv_cache_info.glo_used_mask =
|
|
locationExtended.gnss_sv_used_ids.glo_sv_used_ids_mask;
|
|
sv_cache_info.gal_used_mask =
|
|
locationExtended.gnss_sv_used_ids.gal_sv_used_ids_mask;
|
|
sv_cache_info.bds_used_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'};
|
|
uint32_t svUsedCount = 0;
|
|
uint32_t count = 0;
|
|
loc_nmea_sv_meta sv_meta;
|
|
// -------------------
|
|
// ---$GPGSA/$GNGSA---
|
|
// -------------------
|
|
|
|
count = loc_nmea_generate_GSA(locationExtended, sentence, sizeof(sentence),
|
|
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_GPS,
|
|
GNSS_SIGNAL_GPS_L1CA, true), nmeaArraystr);
|
|
if (count > 0)
|
|
{
|
|
svUsedCount += count;
|
|
talker[0] = sv_meta.talker[0];
|
|
talker[1] = sv_meta.talker[1];
|
|
}
|
|
|
|
// -------------------
|
|
// ---$GLGSA/$GNGSA---
|
|
// -------------------
|
|
|
|
count = loc_nmea_generate_GSA(locationExtended, sentence, sizeof(sentence),
|
|
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_GLONASS,
|
|
GNSS_SIGNAL_GLONASS_G1, true), nmeaArraystr);
|
|
if (count > 0)
|
|
{
|
|
svUsedCount += count;
|
|
talker[0] = sv_meta.talker[0];
|
|
talker[1] = sv_meta.talker[1];
|
|
}
|
|
|
|
// -------------------
|
|
// ---$GAGSA/$GNGSA---
|
|
// -------------------
|
|
|
|
count = loc_nmea_generate_GSA(locationExtended, sentence, sizeof(sentence),
|
|
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_GALILEO,
|
|
GNSS_SIGNAL_GALILEO_E1, true), nmeaArraystr);
|
|
if (count > 0)
|
|
{
|
|
svUsedCount += count;
|
|
talker[0] = sv_meta.talker[0];
|
|
talker[1] = sv_meta.talker[1];
|
|
}
|
|
|
|
// ----------------------------
|
|
// ---$GBGSA/$GNGSA (BEIDOU)---
|
|
// ----------------------------
|
|
count = loc_nmea_generate_GSA(locationExtended, sentence, sizeof(sentence),
|
|
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_BEIDOU,
|
|
GNSS_SIGNAL_BEIDOU_B1I, true), nmeaArraystr);
|
|
if (count > 0)
|
|
{
|
|
svUsedCount += count;
|
|
talker[0] = sv_meta.talker[0];
|
|
talker[1] = sv_meta.talker[1];
|
|
}
|
|
|
|
// --------------------------
|
|
// ---$GQGSA/$GNGSA (QZSS)---
|
|
// --------------------------
|
|
|
|
count = loc_nmea_generate_GSA(locationExtended, sentence, sizeof(sentence),
|
|
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_QZSS,
|
|
GNSS_SIGNAL_QZSS_L1CA, true), nmeaArraystr);
|
|
if (count > 0)
|
|
{
|
|
svUsedCount += count;
|
|
talker[0] = sv_meta.talker[0];
|
|
talker[1] = sv_meta.talker[1];
|
|
}
|
|
|
|
// if svUsedCount is 0, it means we do not generate any GSA sentence yet.
|
|
// in this case, generate an empty GSA sentence
|
|
if (svUsedCount == 0) {
|
|
strlcpy(sentence, "$GPGSA,A,1,,,,,,,,,,,,,,,,", sizeof(sentence));
|
|
length = loc_nmea_put_checksum(sentence, sizeof(sentence));
|
|
nmeaArraystr.push_back(sentence);
|
|
}
|
|
|
|
char ggaGpsQuality[3] = {'0', '\0', '\0'};
|
|
char rmcModeIndicator = 'N';
|
|
char vtgModeIndicator = 'N';
|
|
char gnsModeIndicator[7] = {'N', 'N', 'N', 'N', 'N', 'N', '\0'};
|
|
loc_nmea_get_fix_quality(location, locationExtended, custom_gga_fix_quality,
|
|
ggaGpsQuality, rmcModeIndicator, vtgModeIndicator, gnsModeIndicator);
|
|
|
|
// -------------------
|
|
// ------$--VTG-------
|
|
// -------------------
|
|
|
|
pMarker = sentence;
|
|
lengthRemaining = sizeof(sentence);
|
|
|
|
if (location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_BEARING)
|
|
{
|
|
float magTrack = location.gpsLocation.bearing;
|
|
if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_MAG_DEV)
|
|
{
|
|
float magTrack = location.gpsLocation.bearing - locationExtended.magneticDeviation;
|
|
if (magTrack < 0.0)
|
|
magTrack += 360.0;
|
|
else if (magTrack > 360.0)
|
|
magTrack -= 360.0;
|
|
}
|
|
|
|
length = snprintf(pMarker, lengthRemaining, "$%sVTG,%.1lf,T,%.1lf,M,", talker, location.gpsLocation.bearing, magTrack);
|
|
}
|
|
else
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining, "$%sVTG,,T,,M,", talker);
|
|
}
|
|
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
if (location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_SPEED)
|
|
{
|
|
float speedKnots = location.gpsLocation.speed * (3600.0/1852.0);
|
|
float speedKmPerHour = location.gpsLocation.speed * 3.6;
|
|
|
|
length = snprintf(pMarker, lengthRemaining, "%.1lf,N,%.1lf,K,", speedKnots, speedKmPerHour);
|
|
}
|
|
else
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining, ",N,,K,");
|
|
}
|
|
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
length = snprintf(pMarker, lengthRemaining, "%c", vtgModeIndicator);
|
|
|
|
length = loc_nmea_put_checksum(sentence, sizeof(sentence));
|
|
nmeaArraystr.push_back(sentence);
|
|
|
|
memset(&ecef_w84, 0, sizeof(ecef_w84));
|
|
memset(&ecef_p90, 0, sizeof(ecef_p90));
|
|
memset(&lla_w84, 0, sizeof(lla_w84));
|
|
memset(&lla_p90, 0, sizeof(lla_p90));
|
|
memset(&ref_lla, 0, sizeof(ref_lla));
|
|
memset(&local_lla, 0, sizeof(local_lla));
|
|
lla_w84.lat = location.gpsLocation.latitude / 180.0 * M_PI;
|
|
lla_w84.lon = location.gpsLocation.longitude / 180.0 * M_PI;
|
|
lla_w84.alt = location.gpsLocation.altitude;
|
|
|
|
convert_Lla_to_Ecef(lla_w84, ecef_w84);
|
|
convert_WGS84_to_PZ90(ecef_w84, ecef_p90);
|
|
convert_Ecef_to_Lla(ecef_p90, lla_p90);
|
|
|
|
switch (datum_type) {
|
|
case LOC_GNSS_DATUM_WGS84:
|
|
ref_lla.lat = location.gpsLocation.latitude;
|
|
ref_lla.lon = location.gpsLocation.longitude;
|
|
ref_lla.alt = location.gpsLocation.altitude;
|
|
local_lla.lat = lla_p90.lat / M_PI * 180.0;
|
|
local_lla.lon = lla_p90.lon / M_PI * 180.0;
|
|
local_lla.alt = lla_p90.alt;
|
|
break;
|
|
case LOC_GNSS_DATUM_PZ90:
|
|
ref_lla.lat = lla_p90.lat / M_PI * 180.0;
|
|
ref_lla.lon = lla_p90.lon / M_PI * 180.0;
|
|
ref_lla.alt = lla_p90.alt;
|
|
local_lla.lat = location.gpsLocation.latitude;
|
|
local_lla.lon = location.gpsLocation.longitude;
|
|
local_lla.alt = location.gpsLocation.altitude;
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
|
|
// -------------------
|
|
// ------$--DTM-------
|
|
// -------------------
|
|
loc_nmea_generate_DTM(ref_lla, local_lla, talker, sentence_DTM, sizeof(sentence_DTM));
|
|
|
|
// -------------------
|
|
// ------$--RMC-------
|
|
// -------------------
|
|
|
|
pMarker = sentence_RMC;
|
|
lengthRemaining = sizeof(sentence_RMC);
|
|
|
|
bool validFix = ((0 != sv_cache_info.gps_used_mask) ||
|
|
(0 != sv_cache_info.glo_used_mask) ||
|
|
(0 != sv_cache_info.gal_used_mask) ||
|
|
(0 != sv_cache_info.qzss_used_mask) ||
|
|
(0 != sv_cache_info.bds_used_mask));
|
|
|
|
if (validFix) {
|
|
length = snprintf(pMarker, lengthRemaining, "$%sRMC,%02d%02d%02d.%02d,A,",
|
|
talker, utcHours, utcMinutes, utcSeconds, utcMSeconds/10);
|
|
} else {
|
|
length = snprintf(pMarker, lengthRemaining, "$%sRMC,%02d%02d%02d.%02d,V,",
|
|
talker, utcHours, utcMinutes, utcSeconds, utcMSeconds/10);
|
|
}
|
|
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
if (location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_LAT_LONG)
|
|
{
|
|
double latitude = ref_lla.lat;
|
|
double longitude = ref_lla.lon;
|
|
char latHemisphere;
|
|
char lonHemisphere;
|
|
double latMinutes;
|
|
double lonMinutes;
|
|
|
|
if (latitude > 0)
|
|
{
|
|
latHemisphere = 'N';
|
|
}
|
|
else
|
|
{
|
|
latHemisphere = 'S';
|
|
latitude *= -1.0;
|
|
}
|
|
|
|
if (longitude < 0)
|
|
{
|
|
lonHemisphere = 'W';
|
|
longitude *= -1.0;
|
|
}
|
|
else
|
|
{
|
|
lonHemisphere = 'E';
|
|
}
|
|
|
|
latMinutes = fmod(latitude * 60.0 , 60.0);
|
|
lonMinutes = fmod(longitude * 60.0 , 60.0);
|
|
|
|
length = snprintf(pMarker, lengthRemaining, "%02d%09.6lf,%c,%03d%09.6lf,%c,",
|
|
(uint8_t)floor(latitude), latMinutes, latHemisphere,
|
|
(uint8_t)floor(longitude),lonMinutes, lonHemisphere);
|
|
}
|
|
else
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining,",,,,");
|
|
}
|
|
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
if (location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_SPEED)
|
|
{
|
|
float speedKnots = location.gpsLocation.speed * (3600.0/1852.0);
|
|
length = snprintf(pMarker, lengthRemaining, "%.1lf,", speedKnots);
|
|
}
|
|
else
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining, ",");
|
|
}
|
|
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
if (location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_BEARING)
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining, "%.1lf,", location.gpsLocation.bearing);
|
|
}
|
|
else
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining, ",");
|
|
}
|
|
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
length = snprintf(pMarker, lengthRemaining, "%2.2d%2.2d%2.2d,",
|
|
utcDay, utcMonth, utcYear);
|
|
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_MAG_DEV)
|
|
{
|
|
float magneticVariation = locationExtended.magneticDeviation;
|
|
char direction;
|
|
if (magneticVariation < 0.0)
|
|
{
|
|
direction = 'W';
|
|
magneticVariation *= -1.0;
|
|
}
|
|
else
|
|
{
|
|
direction = 'E';
|
|
}
|
|
|
|
length = snprintf(pMarker, lengthRemaining, "%.1lf,%c,",
|
|
magneticVariation, direction);
|
|
}
|
|
else
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining, ",,");
|
|
}
|
|
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
length = snprintf(pMarker, lengthRemaining, "%c", rmcModeIndicator);
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
// hardcode Navigation Status field to 'V'
|
|
length = snprintf(pMarker, lengthRemaining, ",%c", 'V');
|
|
|
|
length = loc_nmea_put_checksum(sentence_RMC, sizeof(sentence_RMC));
|
|
|
|
// -------------------
|
|
// ------$--GNS-------
|
|
// -------------------
|
|
|
|
pMarker = sentence_GNS;
|
|
lengthRemaining = sizeof(sentence_GNS);
|
|
|
|
length = snprintf(pMarker, lengthRemaining, "$%sGNS,%02d%02d%02d.%02d," ,
|
|
talker, utcHours, utcMinutes, utcSeconds, utcMSeconds/10);
|
|
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
if (location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_LAT_LONG)
|
|
{
|
|
double latitude = ref_lla.lat;
|
|
double longitude = ref_lla.lon;
|
|
char latHemisphere;
|
|
char lonHemisphere;
|
|
double latMinutes;
|
|
double lonMinutes;
|
|
|
|
if (latitude > 0)
|
|
{
|
|
latHemisphere = 'N';
|
|
}
|
|
else
|
|
{
|
|
latHemisphere = 'S';
|
|
latitude *= -1.0;
|
|
}
|
|
|
|
if (longitude < 0)
|
|
{
|
|
lonHemisphere = 'W';
|
|
longitude *= -1.0;
|
|
}
|
|
else
|
|
{
|
|
lonHemisphere = 'E';
|
|
}
|
|
|
|
latMinutes = fmod(latitude * 60.0 , 60.0);
|
|
lonMinutes = fmod(longitude * 60.0 , 60.0);
|
|
|
|
length = snprintf(pMarker, lengthRemaining, "%02d%09.6lf,%c,%03d%09.6lf,%c,",
|
|
(uint8_t)floor(latitude), latMinutes, latHemisphere,
|
|
(uint8_t)floor(longitude),lonMinutes, lonHemisphere);
|
|
}
|
|
else
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining,",,,,");
|
|
}
|
|
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
length = snprintf(pMarker, lengthRemaining, "%s,", gnsModeIndicator);
|
|
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DOP) {
|
|
length = snprintf(pMarker, lengthRemaining, "%02d,%.1f,",
|
|
svUsedCount, locationExtended.hdop);
|
|
}
|
|
else { // no hdop
|
|
length = snprintf(pMarker, lengthRemaining, "%02d,,",
|
|
svUsedCount);
|
|
}
|
|
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_ALTITUDE_MEAN_SEA_LEVEL)
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining, "%.1lf,",
|
|
locationExtended.altitudeMeanSeaLevel);
|
|
}
|
|
else
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining,",");
|
|
}
|
|
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
if ((location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_ALTITUDE) &&
|
|
(locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_ALTITUDE_MEAN_SEA_LEVEL))
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining, "%.1lf,",
|
|
ref_lla.alt - locationExtended.altitudeMeanSeaLevel);
|
|
}
|
|
else
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining, ",");
|
|
}
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DGNSS_DATA_AGE)
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining, "%.1f,",
|
|
(float)locationExtended.dgnssDataAgeMsec / 1000);
|
|
}
|
|
else
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining, ",");
|
|
}
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DGNSS_REF_STATION_ID)
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining, "%04d",
|
|
locationExtended.dgnssRefStationId);
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
}
|
|
|
|
// hardcode Navigation Status field to 'V'
|
|
length = snprintf(pMarker, lengthRemaining, ",%c", 'V');
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
length = loc_nmea_put_checksum(sentence_GNS, sizeof(sentence_GNS));
|
|
|
|
// -------------------
|
|
// ------$--GGA-------
|
|
// -------------------
|
|
|
|
pMarker = sentence_GGA;
|
|
lengthRemaining = sizeof(sentence_GGA);
|
|
|
|
length = snprintf(pMarker, lengthRemaining, "$%sGGA,%02d%02d%02d.%02d," ,
|
|
talker, utcHours, utcMinutes, utcSeconds, utcMSeconds/10);
|
|
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
if (location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_LAT_LONG)
|
|
{
|
|
double latitude = ref_lla.lat;
|
|
double longitude = ref_lla.lon;
|
|
char latHemisphere;
|
|
char lonHemisphere;
|
|
double latMinutes;
|
|
double lonMinutes;
|
|
|
|
if (latitude > 0)
|
|
{
|
|
latHemisphere = 'N';
|
|
}
|
|
else
|
|
{
|
|
latHemisphere = 'S';
|
|
latitude *= -1.0;
|
|
}
|
|
|
|
if (longitude < 0)
|
|
{
|
|
lonHemisphere = 'W';
|
|
longitude *= -1.0;
|
|
}
|
|
else
|
|
{
|
|
lonHemisphere = 'E';
|
|
}
|
|
|
|
latMinutes = fmod(latitude * 60.0 , 60.0);
|
|
lonMinutes = fmod(longitude * 60.0 , 60.0);
|
|
|
|
length = snprintf(pMarker, lengthRemaining, "%02d%09.6lf,%c,%03d%09.6lf,%c,",
|
|
(uint8_t)floor(latitude), latMinutes, latHemisphere,
|
|
(uint8_t)floor(longitude),lonMinutes, lonHemisphere);
|
|
}
|
|
else
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining,",,,,");
|
|
}
|
|
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
// Number of satellites in use, 00-12
|
|
if (svUsedCount > MAX_SATELLITES_IN_USE)
|
|
svUsedCount = MAX_SATELLITES_IN_USE;
|
|
if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DOP)
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining, "%s,%02d,%.1f,",
|
|
ggaGpsQuality, svUsedCount, locationExtended.hdop);
|
|
}
|
|
else
|
|
{ // no hdop
|
|
length = snprintf(pMarker, lengthRemaining, "%s,%02d,,",
|
|
ggaGpsQuality, svUsedCount);
|
|
}
|
|
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_ALTITUDE_MEAN_SEA_LEVEL)
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining, "%.1lf,M,",
|
|
locationExtended.altitudeMeanSeaLevel);
|
|
}
|
|
else
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining,",,");
|
|
}
|
|
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
if ((location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_ALTITUDE) &&
|
|
(locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_ALTITUDE_MEAN_SEA_LEVEL))
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining, "%.1lf,M,",
|
|
ref_lla.alt - locationExtended.altitudeMeanSeaLevel);
|
|
}
|
|
else
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining, ",,");
|
|
}
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DGNSS_DATA_AGE)
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining, "%.1f,",
|
|
(float)locationExtended.dgnssDataAgeMsec / 1000);
|
|
}
|
|
else
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining, ",");
|
|
}
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
|
|
if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DGNSS_REF_STATION_ID)
|
|
{
|
|
length = snprintf(pMarker, lengthRemaining, "%04d",
|
|
locationExtended.dgnssRefStationId);
|
|
if (length < 0 || length >= lengthRemaining)
|
|
{
|
|
LOC_LOGE("NMEA Error in string formatting");
|
|
return;
|
|
}
|
|
pMarker += length;
|
|
lengthRemaining -= length;
|
|
}
|
|
|
|
length = loc_nmea_put_checksum(sentence_GGA, sizeof(sentence_GGA));
|
|
|
|
// ------$--DTM-------
|
|
nmeaArraystr.push_back(sentence_DTM);
|
|
// ------$--RMC-------
|
|
nmeaArraystr.push_back(sentence_RMC);
|
|
if(LOC_GNSS_DATUM_PZ90 == datum_type) {
|
|
// ------$--DTM-------
|
|
nmeaArraystr.push_back(sentence_DTM);
|
|
}
|
|
// ------$--GNS-------
|
|
nmeaArraystr.push_back(sentence_GNS);
|
|
if(LOC_GNSS_DATUM_PZ90 == datum_type) {
|
|
// ------$--DTM-------
|
|
nmeaArraystr.push_back(sentence_DTM);
|
|
}
|
|
// ------$--GGA-------
|
|
nmeaArraystr.push_back(sentence_GGA);
|
|
indexOfGGA = static_cast<int>(nmeaArraystr.size() - 1);
|
|
}
|
|
//Send blank NMEA reports for non-final fixes
|
|
else {
|
|
strlcpy(sentence, "$GPGSA,A,1,,,,,,,,,,,,,,,,", sizeof(sentence));
|
|
length = loc_nmea_put_checksum(sentence, sizeof(sentence));
|
|
nmeaArraystr.push_back(sentence);
|
|
|
|
strlcpy(sentence, "$GPVTG,,T,,M,,N,,K,N", sizeof(sentence));
|
|
length = loc_nmea_put_checksum(sentence, sizeof(sentence));
|
|
nmeaArraystr.push_back(sentence);
|
|
|
|
strlcpy(sentence, "$GPDTM,,,,,,,,", sizeof(sentence));
|
|
length = loc_nmea_put_checksum(sentence, sizeof(sentence));
|
|
nmeaArraystr.push_back(sentence);
|
|
|
|
strlcpy(sentence, "$GPRMC,,V,,,,,,,,,,N,V", sizeof(sentence));
|
|
length = loc_nmea_put_checksum(sentence, sizeof(sentence));
|
|
nmeaArraystr.push_back(sentence);
|
|
|
|
strlcpy(sentence, "$GPGNS,,,,,,N,,,,,,,V", sizeof(sentence));
|
|
length = loc_nmea_put_checksum(sentence, sizeof(sentence));
|
|
nmeaArraystr.push_back(sentence);
|
|
|
|
strlcpy(sentence, "$GPGGA,,,,,,0,,,,,,,,", sizeof(sentence));
|
|
length = loc_nmea_put_checksum(sentence, sizeof(sentence));
|
|
nmeaArraystr.push_back(sentence);
|
|
}
|
|
|
|
EXIT_LOG(%d, 0);
|
|
}
|
|
|
|
|
|
|
|
/*===========================================================================
|
|
FUNCTION loc_nmea_generate_sv
|
|
|
|
DESCRIPTION
|
|
Generate NMEA sentences generated based on sv report
|
|
|
|
DEPENDENCIES
|
|
NONE
|
|
|
|
RETURN VALUE
|
|
0
|
|
|
|
SIDE EFFECTS
|
|
N/A
|
|
|
|
===========================================================================*/
|
|
void loc_nmea_generate_sv(const GnssSvNotification &svNotify,
|
|
std::vector<std::string> &nmeaArraystr)
|
|
{
|
|
ENTRY_LOG();
|
|
|
|
char sentence[NMEA_SENTENCE_MAX_LENGTH] = {0};
|
|
loc_sv_cache_info sv_cache_info = {};
|
|
|
|
//Count GPS SVs for saparating GPS from GLONASS and throw others
|
|
for (uint32_t svOffset = 0; svOffset < svNotify.count; svOffset++) {
|
|
if (GNSS_SV_TYPE_GPS == svNotify.gnssSvs[svOffset].type)
|
|
{
|
|
if (GNSS_SIGNAL_GPS_L5 == svNotify.gnssSvs[svOffset].gnssSignalTypeMask) {
|
|
sv_cache_info.gps_l5_count++;
|
|
} else if (GNSS_SIGNAL_GPS_L2 == svNotify.gnssSvs[svOffset].gnssSignalTypeMask) {
|
|
sv_cache_info.gps_l2_count++;
|
|
} else {
|
|
// GNSS_SIGNAL_GPS_L1CA or default
|
|
// If no signal type in report, it means default L1
|
|
sv_cache_info.gps_l1_count++;
|
|
}
|
|
}
|
|
else if (GNSS_SV_TYPE_GLONASS == svNotify.gnssSvs[svOffset].type)
|
|
{
|
|
if (GNSS_SIGNAL_GLONASS_G2 == svNotify.gnssSvs[svOffset].gnssSignalTypeMask){
|
|
sv_cache_info.glo_g2_count++;
|
|
} else {
|
|
// GNSS_SIGNAL_GLONASS_G1 or default
|
|
// If no signal type in report, it means default G1
|
|
sv_cache_info.glo_g1_count++;
|
|
}
|
|
}
|
|
else if (GNSS_SV_TYPE_GALILEO == svNotify.gnssSvs[svOffset].type)
|
|
{
|
|
if(GNSS_SIGNAL_GALILEO_E5A == svNotify.gnssSvs[svOffset].gnssSignalTypeMask){
|
|
sv_cache_info.gal_e5_count++;
|
|
} else if (GNSS_SIGNAL_GALILEO_E5B == svNotify.gnssSvs[svOffset].gnssSignalTypeMask) {
|
|
sv_cache_info.gal_e5b_count++;
|
|
} else {
|
|
// GNSS_SIGNAL_GALILEO_E1 or default
|
|
// If no signal type in report, it means default E1
|
|
sv_cache_info.gal_e1_count++;
|
|
}
|
|
}
|
|
else if (GNSS_SV_TYPE_QZSS == svNotify.gnssSvs[svOffset].type)
|
|
{
|
|
if (GNSS_SIGNAL_QZSS_L5 == svNotify.gnssSvs[svOffset].gnssSignalTypeMask) {
|
|
sv_cache_info.qzss_l5_count++;
|
|
} else {
|
|
// GNSS_SIGNAL_QZSS_L1CA or default
|
|
// If no signal type in report, it means default L1
|
|
sv_cache_info.qzss_l1_count++;
|
|
}
|
|
}
|
|
else if (GNSS_SV_TYPE_BEIDOU == svNotify.gnssSvs[svOffset].type)
|
|
{
|
|
if ((GNSS_SIGNAL_BEIDOU_B2AI == svNotify.gnssSvs[svOffset].gnssSignalTypeMask) ||
|
|
(GNSS_SIGNAL_BEIDOU_B2AQ == svNotify.gnssSvs[svOffset].gnssSignalTypeMask)) {
|
|
sv_cache_info.bds_b2_count++;
|
|
} else if (GNSS_SIGNAL_BEIDOU_B1C == svNotify.gnssSvs[svOffset].gnssSignalTypeMask) {
|
|
sv_cache_info.bds_b1c_count++;
|
|
} else {
|
|
// GNSS_SIGNAL_BEIDOU_B1I or default
|
|
// If no signal type in report, it means default B1I
|
|
sv_cache_info.bds_b1i_count++;
|
|
}
|
|
}
|
|
else if (GNSS_SV_TYPE_NAVIC == svNotify.gnssSvs[svOffset].type)
|
|
{
|
|
// GNSS_SIGNAL_NAVIC_L5 is the only signal type for NAVIC
|
|
sv_cache_info.navic_l5_count++;
|
|
}
|
|
}
|
|
|
|
loc_nmea_sv_meta sv_meta;
|
|
// ---------------------
|
|
// ------$GPGSV:L1CA----
|
|
// ---------------------
|
|
|
|
loc_nmea_generate_GSV(svNotify, sentence, sizeof(sentence),
|
|
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_GPS,
|
|
GNSS_SIGNAL_GPS_L1CA, false), nmeaArraystr);
|
|
|
|
// ---------------------
|
|
// ------$GPGSV:L5------
|
|
// ---------------------
|
|
|
|
loc_nmea_generate_GSV(svNotify, sentence, sizeof(sentence),
|
|
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_GPS,
|
|
GNSS_SIGNAL_GPS_L5, false), nmeaArraystr);
|
|
|
|
// ---------------------
|
|
// ------$GPGSV:L2------
|
|
// ---------------------
|
|
loc_nmea_generate_GSV(svNotify, sentence, sizeof(sentence),
|
|
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_GPS,
|
|
GNSS_SIGNAL_GPS_L2, false), nmeaArraystr);
|
|
|
|
// ---------------------
|
|
// ------$GLGSV:G1------
|
|
// ---------------------
|
|
|
|
loc_nmea_generate_GSV(svNotify, sentence, sizeof(sentence),
|
|
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_GLONASS,
|
|
GNSS_SIGNAL_GLONASS_G1, false), nmeaArraystr);
|
|
|
|
// ---------------------
|
|
// ------$GLGSV:G2------
|
|
// ---------------------
|
|
|
|
loc_nmea_generate_GSV(svNotify, sentence, sizeof(sentence),
|
|
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_GLONASS,
|
|
GNSS_SIGNAL_GLONASS_G2, false), nmeaArraystr);
|
|
|
|
// ---------------------
|
|
// ------$GAGSV:E1------
|
|
// ---------------------
|
|
|
|
loc_nmea_generate_GSV(svNotify, sentence, sizeof(sentence),
|
|
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_GALILEO,
|
|
GNSS_SIGNAL_GALILEO_E1, false), nmeaArraystr);
|
|
|
|
// -------------------------
|
|
// ------$GAGSV:E5A---------
|
|
// -------------------------
|
|
loc_nmea_generate_GSV(svNotify, sentence, sizeof(sentence),
|
|
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_GALILEO,
|
|
GNSS_SIGNAL_GALILEO_E5A, false), nmeaArraystr);
|
|
|
|
// -------------------------
|
|
// ------$GAGSV:E5B---------
|
|
// -------------------------
|
|
loc_nmea_generate_GSV(svNotify, sentence, sizeof(sentence),
|
|
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_GALILEO,
|
|
GNSS_SIGNAL_GALILEO_E5B, false), nmeaArraystr);
|
|
|
|
// -----------------------------
|
|
// ------$GQGSV (QZSS):L1CA-----
|
|
// -----------------------------
|
|
|
|
loc_nmea_generate_GSV(svNotify, sentence, sizeof(sentence),
|
|
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_QZSS,
|
|
GNSS_SIGNAL_QZSS_L1CA, false), nmeaArraystr);
|
|
|
|
// -----------------------------
|
|
// ------$GQGSV (QZSS):L5-------
|
|
// -----------------------------
|
|
|
|
loc_nmea_generate_GSV(svNotify, sentence, sizeof(sentence),
|
|
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_QZSS,
|
|
GNSS_SIGNAL_QZSS_L5, false), nmeaArraystr);
|
|
// -----------------------------
|
|
// ------$GBGSV (BEIDOU:B1I)----
|
|
// -----------------------------
|
|
|
|
loc_nmea_generate_GSV(svNotify, sentence, sizeof(sentence),
|
|
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_BEIDOU,
|
|
GNSS_SIGNAL_BEIDOU_B1I, false), nmeaArraystr);
|
|
|
|
// -----------------------------
|
|
// ------$GBGSV (BEIDOU:B1C)----
|
|
// -----------------------------
|
|
loc_nmea_generate_GSV(svNotify, sentence, sizeof(sentence),
|
|
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_BEIDOU,
|
|
GNSS_SIGNAL_BEIDOU_B1C, false), nmeaArraystr);
|
|
|
|
// -----------------------------
|
|
// ------$GBGSV (BEIDOU:B2AI)---
|
|
// -----------------------------
|
|
|
|
loc_nmea_generate_GSV(svNotify, sentence, sizeof(sentence),
|
|
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_BEIDOU,
|
|
GNSS_SIGNAL_BEIDOU_B2AI, false), nmeaArraystr);
|
|
|
|
// -----------------------------
|
|
// ------$GIGSV (NAVIC:L5)------
|
|
// -----------------------------
|
|
|
|
loc_nmea_generate_GSV(svNotify, sentence, sizeof(sentence),
|
|
loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_NAVIC,
|
|
GNSS_SIGNAL_NAVIC_L5,false), nmeaArraystr);
|
|
|
|
EXIT_LOG(%d, 0);
|
|
}
|